Title :
Continuous hopping motion experiment of one linear actuator robot with adaptive fuzzy control
Author :
Funato, Tetsuro ; Kuswadi, Son ; Nakaura, Shigeki ; Sampei, Mitsuji
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
This paper deals with the hopping motion experiment of one-legged robot with only one linear actuator. The controller is designed considering one hopping as one cycle of discrete time system, and adaptive fuzzy control is also used to improve the stability. By experiment, continuous hopping was realized and the effectiveness of adaptive fuzzy control was confirmed.
Keywords :
actuators; adaptive control; control system synthesis; discrete time systems; fuzzy control; learning systems; legged locomotion; robot dynamics; servomechanisms; stability; adaptive fuzzy control; continuous hopping motion robot; controller design; discrete time system; learning systems; one legged robot; one linear actuator robot; robot dynamics; servomechanisms; stability;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
