Conf. Intelligent Systems and Robots, p.1778-1785, Yokohama, Japan, July1993. Design, Modeling and Control of a Hopping Robot
by H. Rad, P. Gregorio, M. Buehler
http://www.cim.mcgill.ca/~arlweb/publications/iros93_hop.ps
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Abstract:
We report progress towards model based, dynamically stable legged locomotion with energy efficient, electrically actuated robots. We present the mechanical design of a prismatic robot leg which is optimized for electrical actuation. A dynamical model of the robot and the actuator as well as the interaction with ground is derived and validated by demonstrating close correspondence between simulations and experiments. A new continuous, and exactly implementable open loop torque control algorithm is introduced which stabilizes a limit cycle of the underlying fourth order intermittent robot/actuator/environment dynamics. 1
Citations
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