Title :
Sliding and hopping gaits for the underactuated Acrobot
Author :
Berkemeier, Matthew D. ; Fearing, Ronald S.
Author_Institution :
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
fDate :
8/1/1998 12:00:00 AM
Abstract :
An example of a planar hopping robot is considered, which has only one actuated joint. Simulations demonstrate that the robot can perform both sliding and hopping gaits, despite the fact that almost all other hopping robots have at least two actuated joints
Keywords :
closed loop systems; feedback; legged locomotion; robot dynamics; hopping gaits; planar hopping robot; sliding gaits; underactuated Acrobot; Australia; Intelligent robots; Intelligent sensors; Legged locomotion; Machine intelligence; Mobile robots; Reflection; Robot sensing systems; Robotics and automation; Sonar navigation;
Journal_Title :
Robotics and Automation, IEEE Transactions on
