TY - GEN
T1 - Balancing and hopping motion of a planar hopper with one actuator
AU - Azad, Morteza
AU - Featherstone, Roy
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887282890&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630848
DO - 10.1109/ICRA.2013.6630848
M3 - Conference contribution
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2027
EP - 2032
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -