Title :
Hopping through stiffness modulation method (STINIM)
Author :
Sung, Sanghak ; Youm, Youngil ; Chung, Wankyun
Author_Institution :
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Abstract :
In this paper, we present hopping strategy which is more human-like for legged robot through stiffness modulation of a body. This method enables to reduce impact force on touch-down and adaption on ground stiffness change. Simple selected models are used to validate this method and singular perturbation method is used for control.
Keywords :
legged locomotion; singularly perturbed systems; hopping strategy; humanoid robot; legged robot; singular perturbation method; stiffness modulation method; Biological system modeling; Biomechanics; Hardware; Humanoid robots; Humans; Leg; Legged locomotion; Mechanical engineering; Perturbation methods; Springs;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250611
