Balancing and hopping motion of a planar hopper with one actuator

Morteza Azad, Roy Featherstone

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    16 Citations (Scopus)

    Abstract

    In this paper, a new control algorithm is presented for implementing hopping and balancing motions on a planar hopping machine with a single actuated revolute joint. Starting with a simple control algorithm for balancing, it is extended to perform trajectory-tracking maneuvers, which enables it to perform the crouching, lift-off and flight phases of a single hop, as well as re-balancing after landing. Simulation results are presented showing that the control system works well, and that it is not significantly affected by small amounts of slipping between the foot and the ground.

    Original languageEnglish
    Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Pages2027-2032
    Number of pages6
    DOIs
    Publication statusPublished - 2013
    Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
    Duration: 6 May 201310 May 2013

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Conference

    Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
    Country/TerritoryGermany
    CityKarlsruhe
    Period6/05/1310/05/13

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