A note on a model hopping machine

被引：12

作者：

Larin, VB ^{[1
]}

Matiyasevich, VM ^{[1
]}

机构：

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

来源：

INTERNATIONAL APPLIED MECHANICS | 2002年 / 38卷 / 10期

关键词：

Dynamical Characteristic; Control Algorithm; Functioning Machine; Simple Component; Variable Constraint;

D O I：

10.1023/A:1022270715560

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

A model of a statically unstable (one-legged) hopping machine is discussed. It is used to analyze whether and how well the control algorithms for systems with variable constraints can be employed in the engineering implementation of this machine. The results obtained indicate that the control algorithms make it possible to create a functioning machine with relatively simple components. The dynamical characteristics of this hopping machine are such that it can, for example, double the horizontal speed in two to three hops. This fact is interesting because a linear controller controls a nonlinear object.

引用

页码：1272 / 1279

页数：8

共 23 条

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Larin, VB
[J]. INTERNATIONAL APPLIED MECHANICS, 2001, 37 (10) : 1352 - 1358

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