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Related Experiment Video

Updated: Jun 2, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Running over unknown rough terrain with a one-legged planar robot.

Ben Andrews¹, Bruce Miller, John Schmitt

¹Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310, USA.

Bioinspiration & Biomimetics

|May 11, 2011

Summary

Researchers developed a one-legged robot to study running on rough terrain. An active energy removal control scheme proved most effective for stabilizing locomotion despite disturbances.

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Last Updated: Jun 2, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Area of Science:

Robotics
Biomechanics
Control Systems

Background:

Legged robots offer advantages over wheeled robots for traversing rough terrain.
Current legged robot research struggles to match animal agility due to system complexity.
Single-legged models simplify research into fundamental legged running dynamics.

Purpose of the Study:

To design and build a one-legged planar robot for testing advanced control strategies.
To investigate control strategies for stable one-legged running over unknown, rough terrain.
To compare the stability of different controllers using simulated and experimental data.

Main Methods:

Developed a one-legged planar robot capable of implementing various control strategies.
Implemented a control strategy involving sinusoidal variation of force-free leg length during the stance phase.
Subjected the robot to simulated and experimental perturbations (25% drop/raised step).

Main Results:

Evaluated and compared the stability of proposed controllers under perturbation.
Identified an active energy removal control scheme as a key to stabilizing running.
Demonstrated the effectiveness of minimal-sensing control for rough terrain locomotion.

Conclusions:

A minimal-sensing, active energy removal control scheme offers significant advantages for stabilizing legged robot running on rough terrain.
The developed one-legged robot serves as a valuable platform for advancing legged locomotion research.
Understanding fundamental dynamics through simplified models is crucial for achieving agile legged robots.