Title :
Hoping control of a one-legged robot
Author :
Qizhi, Zhang ; Yali, Zhou ; Qiuling, Zhao
Author_Institution :
Sch. of Autom., Beijing Inf. Sci. & Technol. Univ., Beijing, China
Abstract :
The hopping control of a one-legged robot is investigated using Spring Loaded Inverted Pendulum (SLIP). The hopping progress of a robot is divided into the flight phase and the stance phase. The dynamics Models of a hopping robot are established using Lagrangian equation. The Impact models of a robot´s landing and take-off phase are obtained under instantaneous impact hypothesis. The periodic hopping control of a robot is realized using one actuator and simple PD control technology. The computer simulations show that the control algorithm proposed in this paper is effective for the periodic hopping control of a robot, and the double periodic hopping will be appeared when the PD parameters are increased.
Keywords :
PD control; impact (mechanical); legged locomotion; nonlinear control systems; pendulums; springs (mechanical); Lagrangian equation; PD control technology; flight phase; hopping control; impact hypothesis; one-legged robot; spring loaded inverted pendulum; stance phase; Actuators; Computational modeling; Dynamics; Helium; Mathematical model; Robots; Stability analysis; hopping; t—one-legged robot; underactuated;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554241
