Title :
Vertical jumping motion control for 4-link robot
Author :
Kato, Daichi ; Sekiguchi, Kazuma ; Sampei, Mitsuji
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
This paper describes a control strategy for a vertical jumping motion of 4-link robot. The target system which consists of 4-link and 3-actuator is a model of a human body. This system is underactuate, and constraints of the system are variable in the process of jumping. In this paper, the control strategy which overcomes the difficulties is proposed. Additionally, by comparing a vertical jumping motion of human, the proposed control realizes a humanlike vertical jumping.
Keywords :
actuators; gait analysis; legged locomotion; motion control; 4-link robot; actuator; human motion; vertical jumping motion control; Acceleration; Equations; Force; Joints; Mathematical model; Robots; Switches; Mechanical Systems Control; Nonlinear Control; Systems Theory and Engineering;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
