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

fYear

2010

Firstpage

6489

Lastpage

6492

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554241

Filename

5554241