Hoping control of a one-legged robot

被引：0

作者：

Zhang Qizhi ^{[1
]}

Zhou Yali ^{[1
]}

Zhao Qiuling ^{[1
]}

机构：

[1] Beijing Informat Sci & Technol Univ, Sch Automat, Beijing 100192, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

one-legged robot; hopping; underactuated;

D O I：

10.1109/WCICA.2010.5554241

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

the hopping control of a one-legged robot is investigated using Spring Loaded Inverted Pendulum ( SLIP). The hopping progress of a robot is divided into the flight phase and the stance phase. The dynamics Models of a hopping robot are established using Lagrangian equation. The Impact models of a robot's landing and take-off phase are obtained under instantaneous impact hypothesis. The periodic hopping control of a robot is realized using one actuator and simple PD control technology. The computer simulations show that the control algorithm proposed in this paper is effective for the periodic hopping control of a robot, and the double periodic hopping will be appeared when the PD parameters are increased.

引用

页码：6489 / 6492

页数：4

共 8 条

[1] Dynamic stability of open-loop hopping
Cham, Jorge G.
Cutkosky, Mark R.
[J]. JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2007, 129 (03): : 275 - 284
[2] Modeling, motion planning, and control of one-legged hopping robot actuated by two arms
He, Guang-Ping
Tan, Xiao-Lan
Zhang, Xiang-Hui
Lu, Zhen
[J]. MECHANISM AND MACHINE THEORY, 2008, 43 (01) : 33 - 49
[3] He Guangping, 2007, Chinese Journal of Mechanical Engineering, V43, P44, DOI 10.3901/JME.2007.05.044
[4] [李保江 Li Baojiang], 2005, [机械科学与技术, Mechanical Science and Technology], V24, P803
[5] Open-loop stable running
Mombaur, KD
Longman, RW
Bock, HG
Schlöder, JP
[J]. ROBOTICA, 2005, 23 : 21 - 33
[6] SATO A, 2004, P 2004 IEEE RSJ INT, P3540
[7] Xia Xu-feng, 2006, Robot, V28, P488
[8] YANG WG, 2006, MACHINERY ELECT, P45

← 1 →