Title :
Proposing a novel one-legged robot: control via Poincare map
Author :
Geng, Tao ; Xiong, Gang ; Xie, Li ; Yang, Yupu ; Guo, Yu ; Ma, Qindi
Author_Institution :
Shanghai Jiao Tong Univ., China
Abstract :
Two contributions of the paper are that: (1) a novel manner of one-legged locomotion, ballistic flipping, is proposed; (2) by using the method of a Poincare map, the fixed points corresponding to unstable cyclic flipping gait are found in simulation, then a strategy based on a neural network is presented to stabilize the fixed point. This robot needs no active control during its flight phases. Compared with other one-legged robots that had to regulate their attitudes while in flight, this robot may be energetically economical
Keywords :
Jacobian matrices; ballistics; legged locomotion; multilayer perceptrons; neurocontrollers; position control; Poincare map; ballistic flipping; fixed points; multilayer perceptrons; neural network; neurocontrollers; one-legged locomotion; position control; unstable cyclic flipping gait; Engine cylinders; Equations; Foot; Leg; Legged locomotion; Manipulator dynamics; Orbital robotics; Robot control; Robot sensing systems; Torque;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980842
