• DocumentCode
    681164
  • Title

    Experiment of vertical jumping and landing motion with 4-link robot

  • Author

    Shimizu, Takamitsu ; Sekiguchi, Kazuma ; Sampei, Mitsuji

  • Author_Institution
    Tokyo Institute of Technology, Japan
  • fYear
    2013
  • fDate
    14-17 Sept. 2013
  • Firstpage
    2166
  • Lastpage
    2171
  • Abstract
    This paper presents a control law for a vertical jumping and landing motion with 4-link Robot. A target system consists of four links and three actuators placed on each joint between the links. This system is fullactuated at the initial state or posture, but as the physical constraint varies in a process of a jumping motion, the system comes to be underactuated. With the control strategy overcoming these difficulties, we propose a control law of a vertical jumping and landing motion with the model, and numerical simulation.
  • Keywords
    Actuators; Equations; Gravity; Joints; Numerical models; Robots; Switches; Mechanical Systems Control; Nonlinear Control; Systems Theory and Engineering;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    SICE Annual Conference (SICE), 2013 Proceedings of
  • Conference_Location
    Nagoya, Japan
  • Type

    conf

  • Filename
    6736332
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=681164