• DocumentCode
    1406832
  • Title

    Sliding and hopping gaits for the underactuated Acrobot

  • Author

    Berkemeier, Matthew D. ; Fearing, Ronald S.

  • Author_Institution
    Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
  • Volume
    14
  • Issue
    4
  • fYear
    1998
  • fDate
    8/1/1998 12:00:00 AM
  • Firstpage
    629
  • Lastpage
    634
  • Abstract
    An example of a planar hopping robot is considered, which has only one actuated joint. Simulations demonstrate that the robot can perform both sliding and hopping gaits, despite the fact that almost all other hopping robots have at least two actuated joints
  • Keywords
    closed loop systems; feedback; legged locomotion; robot dynamics; hopping gaits; planar hopping robot; sliding gaits; underactuated Acrobot; Australia; Intelligent robots; Intelligent sensors; Legged locomotion; Machine intelligence; Mobile robots; Reflection; Robot sensing systems; Robotics and automation; Sonar navigation;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.704235
  • Filename
    704235
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1406832