Control of Hopping Height for a One-Legged Hopping Machine
نویسندگان
چکیده
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 hopping leg, as well as simulations of its performance in tracking a piecewise-constant height reference. These simulations suggest that the resulting algorithm is both computationally feasible and robust to disturbances and drifts.
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