A Hopping Height Control for Hopping Robot
نویسندگان
چکیده
منابع مشابه
Hopping peak height algorithm for a one legged robot hopping height control
This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore, hopping peak height algorithm is designe...
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The control of the hopping height in a one-legged machine is studied. The general aim is to decrease sensitivity of the hopping height to drifts in the machine’s parameters. The proposed approach combines a near-inverse controller which uses height feedback, with a recursive least-squares parameter estimator which continually tunes the controller. The paper presents the mechanical design of the...
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Research on running robots has generally focussed on the steady-state. When the ground has limited foot placement surfaces or there are sudden changes in height then steady-state running is not possible. It becomes necessary to make step-bystep adjustments to place the foot. In this paper a mass-spring-damper model of a robot’s leg is used to develop a hopping controller capable of meeting rapi...
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In this paper we present a new approach for vertical motion feedback control of a hopping robot. The task of the feedback control is to stabilize the robotic system to a desired limit cycle under existing constraints on the controls. Unlike most previous methods, the approach presented here does not rely on the construction of the Poincar e map, which simpliies the subsequent analysis, but can ...
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The bow leg hopper is a new design for a locomoting system with a resilient, flexible leg. It features a passive stance phase and natural pitch stability. It is controlled with actuators that configure the leg angle and stored leg energy during flight. During stance, the actuators are mechanically decoupled from the leg and the stored energy is released. The trajectory is determined by the spri...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Industry Applications
سال: 2004
ISSN: 0913-6339,1348-8163
DOI: 10.1541/ieejias.124.660