A 3D model of one-legged hopping machine

被引：12

作者：

Larin, VB ^{[1
]}

机构：

[1] Natl Acad Sci Ukraine, SP Timoshenko Inst Mech, Kiev, Ukraine

来源：

INTERNATIONAL APPLIED MECHANICS | 2004年 / 40卷 / 05期

关键词：

hopping machine; Carnot's theorem; periodic system;

D O I：

10.1023/B:INAM.0000037307.02303.44

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The paper models the spatial motion of a hopping machine with allowance for the inertial properties of its leg. A control system is synthesized and a program trajectory is determined in view of the collision processes accompanying touchdowns. The synthesis procedure is based on optimization of periodic systems. The results from numerical simulation of the hopper's nonstationary motion are demonstrative of the high efficiency of the control system.

引用

页码：583 / 591

页数：9

共 10 条

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[2] Fu K., 1989, ROBOTICS
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Larin, VB
[J]. INTERNATIONAL APPLIED MECHANICS, 2003, 39 (04) : 484 - 492
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[5] A note on a model hopping machine
Larin, VB
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[J]. INTERNATIONAL APPLIED MECHANICS, 2002, 38 (10) : 1272 - 1279
[6] Control of statically unstable legged vehicles
Larin, VB
[J]. INTERNATIONAL APPLIED MECHANICS, 2000, 36 (06) : 729 - 758
[7] LARIN VB, 1998, PROBL UPRAVL INFORM, P33
[8] LARIN VB, 2003, PROBL UPRAVL INFORM, P143
[9] LARIN VB, 2003, PROBL UPRAVAL INFORM, P33
[10] EXPERIMENTS IN BALANCE WITH A 3D ONE-LEGGED HOPPING MACHINE
RAIBERT, MH
BROWN, HB
CHEPPONIS, M
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