Robust balance control of a one-legged, pneumatically-actuated, Acrobot-like hopping robot

Author

Leavitt, John ; Bobrow, James E. ; Sideris, Athanasios

Author_Institution

Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA

Volume

4

fYear

2004

Firstpage

4240

Abstract

We investigate approaches to balance control of an under-actuated robot. The robot is similar in structure to the Acrobot, but it is actuated with a pneumatic cylinder rather than an electric motor, and it is capable of hopping. Regions of attraction of the control system are studied, and two methods are presented that increase the size of this region. One is a different mechanical design, and the other is a more robust control approach based on H_∞ methods. The result is a much improved balance controller for a hopping robot.

Keywords

H^∞ control; control system synthesis; feedback; legged locomotion; linear quadratic control; linearisation techniques; pneumatic actuators; robust control; torque control; Acrobot like hopping robot; H_∞ methods; control system synthesis; electric motor; feedback; linear quadratic control; linearisation techniques; mechanical design; one legged robot; pneumatic cylinder; pneumatically actuated robot; regions of attraction; robust balance controller; torque control; underactuated robot; Control design; Control systems; Engine cylinders; Foot; Leg; Mobile robots; Orbital robotics; Robust control; Stability; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308943

Filename

1308943