Modal Matching: An Approach to Natural Compliant Jumping Control

Abstract

This letter derives the basic concept of modal matching - an approach to natural motion control. Modal matching exploits the nonlinearity of the rigid multi-body dynamics (and the variability of the elastic transmissions) as degree of freedom to fit the natural plant dynamics to the desired dynamics of the task. Modal matching achieves a desired intrinsic oscillation behavior, which is locally equivalent to the dynamics of the basic spring-loaded inverted pendulum or pogo-stick model (both implementing a linear inertia acting on a linear spring), well established in locomotion analysis and control. Using the concept of modal matching, an efficient and effective methodology to natural jumping control is introduced.