Multi-terrain Running with Variable Impedance Legs and Estimation Multi-Model Switched Adaptive Control

This is an open question as to how the control of impedance in robotic systems can be managed such that their performance levels can rival their biological counterparts. The focus of the research will be aimed at an innovative VIA design specifically harnessing the natural dynamics of passive elastic elements. It will explore control methods for managing the impedance of the VIA to maximize efficiency by implementing Estimation Multi-Model Switched Adaptive Control. Finally, an evaluation on how successful the proposed design and control approach is in traversing dynamic environments when compared to biological systems will be made. The main objective will be to develop a quadrupedal robot which is capable of achieving a running gait and can traverse over multiple terrains achieving maximum possible efficiency.