Dynamic modeling and control of hopping robot in planar space

被引：0

作者：

Seungbin Baek

Junho Park

Youngjun Joo

Jongguk Yim

Youngjin Choi

机构：

[1] Hyundai Autron Co.,

[2] Hanyang University,undefined

[3] University of Central Florida,undefined

[4] Korea Polytechnic University,undefined

来源：

Intelligent Service Robotics | 2016年 / 9卷

关键词：

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

D O I：

暂无

中图分类号：

学科分类号：

摘要：

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.

引用

页码：153 / 161

页数：8

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