Vertical motion control of a hopping robot
نویسندگان
چکیده
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 be diicult or impossible to obtain analytically. The method can also be applied to more complicated, possibly nonlinear models of legged robots, as well as other variable structure systems.
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