Optimal motion planning of a one-legged hopping robot

Author

He, Guang-Ping ; Geng, Zhi-Yong

Author_Institution

Dept. of Mech. & Aerosp. Eng., Peking Univ., Beijing

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1178

Lastpage

1183

Abstract

The optimal motion planning and stable jumping control for a new one-legged hopping robot are investigated. The new robot has one passive telescopic leg and two actuated arms, therefore an underactuated mechanical system of which the motion can only be controlled by the internal dynamic coupling. The features of the dynamic coupling between the passive leg and the actuated arms are analyzed through measuring two proposed indices. An optimal motion planning algorithm is introduced for maximizing energy efficiency of the motion of the robot. The feasibility of the optimal motion-planning algorithm is verified by some numerical simulations in which varying height and varying moving speed are considered.

Keywords

manipulator dynamics; motion control; numerical analysis; optimal control; actuated arms; internal dynamic coupling; jumping control; motion energy efficiency; numerical simulations; one-legged hopping robot; optimal motion planning algorithm; passive telescopic leg; underactuated mechanical system; Arm; Control systems; Leg; Legged locomotion; Manipulators; Mechanical systems; Motion control; Motion planning; Optimal control; Robots; Hopping robot; Motion planning; Optimization; Underactuation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522331

Filename

4522331