A Control of underactuated hopping gait systems: Acrobot example

被引：0

作者：

Miyazaki, M ^{[1
]}

Sampei, M ^{[1
]}

Koga, M ^{[1
]}

Takahashi, A ^{[1
]}

机构：

[1] Tokyo Inst Technol, Meguro Ku, Tokyo, Japan

来源：

PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

While many researchers have been working on hopping gait systems, most of the previous works have focused on the mechanism designed by Raibert which has two actuators. In this paper, we consider the acrobot, which has only one actuator as our model of a hopping gait system. In spite of difficulty of realizing acrobot's hopping gait, it produces more interesting and attractive control problems than Raibert's model. Furthermore, the hopping principle of legged systems can be understood by treating the system which is difficult to control by intuition like acrobot.

引用

页码：4797 / 4802

页数：6

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