Motion having a Flight Phase: Experiments Involving a One-legged Robot

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Stiffness control of a legged robot equipped with a serial manipulator in stance phase

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

متن کامل

Motion Planning for a Six-Legged Lunar Robot

This paper studies the motion of a large and highly mobile six-legged lunar vehicle called athlete, developed by the Jet Propulsion Laboratory. This vehicle rolls on wheels when possible, but can use the wheels as feet to walk when necessary. While gaited walking may suffice for most situations, rough and steep terrain requires novel sequences of footsteps and postural adjustments that are spec...

متن کامل

Stable Control of a One Legged Robot Exploiting Passive Dynamics

To my wife, my daughter, and my parents. j j j j j j ii ABSTRACT ABSTRACT This thesis aims at the understanding, the design, the dynamics, and primarily, the control of a one{legged running robot with the goal of maximizing its energy eeciency. The approach exploits the leg's passive dynamics, the unforced periodic leg swing motion. We introduce a strategy, termed \Controlled Passive Dynamic Ru...

متن کامل

Dynamics-based control of a one-legged hopping robot

This paper proposes a new model of a one-legged hopping robot. The one-legged hopping robot is useful in realizing rapid movement such as that of a running animal. Although it has a simple leg mechanism, the dynamics are not simple and require non-linear complex analysis. This means that it is not easy to derive a controller for stable hopping in a systematic way. Therefore, a dynamics-based ap...

متن کامل

An adaptive controller for a one-legged mobile robot

An adaptive controller based upon the on-line minimization of a performance criteria is described. The adaptive controller is used to improve the performance of a one-legged mobile robot, removing prob lems experienced with previous controllers. The performance of several minimization algorithms is analyzed and, as a result, the Adaptive Step Size Random Search algorithm is selected. Finally, a...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of the Robotics Society of Japan

سال: 2007

ISSN: 0289-1824,1884-7145

DOI: 10.7210/jrsj.25.860