1. RiSE State-Based Voltage Control
Salomon Trujillo, July 13, 2007

2. Video

3. Joint Speed Comparison

4. Measured Voltage Comparison

5. V = Kττ + Kωω I = KIτ DC Motor Model τ ω High current draw Stall
Torque
 Vmotor
Constant slope
No current draw ω
Area = Power
No-Load
Speed
 Vmotor

6. PD & Force Control Diagramsu uω  ω - kp kd + f ω Kω f Kf + V

7. Voltage Control of Motors
Wing Voltage
Motor A Voltage
Motor B Voltage
Crank Voltage

8. Gait State Machine Pull Down Front Release Front Flight Front Strike
Wing Voltage
Front Release
Front Flight
Front Strike
Crank Voltage
Back Release
Back Flight
Back Strike
Pull Down
Front Legs
Back Legs

9. Yaw Bang-Bang Control u
Yaw detected using IMU 

10. Flight-Brake Control v x Braking Curve Constant velocity approach
Target State

11. Pitch detected using IMU and wing angles
Pitch Correction
Pitch detected using IMU and wing angles
Normal Attachment
Pitch Correction Attachment

12. Future Work
Produce a hybrid control that combines trajectory and state-based controllers.
Build a framework that uses robot dynamics to calculate desired voltages.
Experiment with voltage commands at transitions (input shaping?)
Work on release and strike states to provide smoother attachment & detachment and prevent non-gravity deceleration.