Title :
Analysis of a simplified hopping robot
Author :
Bühler, Martin ; Koditschek, Daniel E.
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
The authors construct a simplified model of a dynamically dexterous robot, M.H. Raibert´s hopper, and investigate its elegant, physically based control strategies. Analysis of induced discrete dynamics leads to strong conclusions concerning global limiting properties. These conclusions are then verified by computer simulation of the simplified models, the correspondence of which to the true physical apparatus is seen to be acceptable as well
Keywords :
control system analysis; robots; Raibert hopping robot; dexterous robot; induced discrete dynamics; physically based control strategies; Feedback control; Friction; Intelligent robots; Iron; Leg; Motion analysis; Motion control; Prototypes; Robot sensing systems; Springs;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12160
