Dynamic Modeling And Control Of Hopping Robot In Planar Space

Keywords

Dynamic cycle; Dynamics; Hopping robot; Kinematics; State transitions

Abstract

The paper presents two-mass inverted pendulum (TMIP) model and its control scheme for hopping robot. Unlike the conventional spring-loaded inverted pendulum (SLIP) model, the proposed TMIP model is able to provide the functions of energy storing and releasing by using a linear actuator. Also it becomes more accurate comparing to the conventional SLIP model by taking the foot mass into consideration. Furthermore how to determine both takeoff angle and velocity for hopping is analytically suggested to accomplish the desired stride and height of hopping robot. The control method for the TMIP model is also presented in the paper. Finally, the effectiveness of the proposed model and control scheme is verified through the simulation.

Publication Date

4-1-2016

Publication Title

Intelligent Service Robotics

Volume

9

Issue

2

Number of Pages

153-161

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/s11370-015-0192-z

Socpus ID

84961201190 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84961201190

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