• DocumentCode
    2364125
  • Title

    Hopping through stiffness modulation method (STINIM)

  • Author

    Sung, Sanghak ; Youm, Youngil ; Chung, Wankyun

  • Author_Institution
    Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
  • Volume
    1
  • fYear
    2003
  • fDate
    27-31 Oct. 2003
  • Firstpage
    94
  • Abstract
    In this paper, we present hopping strategy which is more human-like for legged robot through stiffness modulation of a body. This method enables to reduce impact force on touch-down and adaption on ground stiffness change. Simple selected models are used to validate this method and singular perturbation method is used for control.
  • Keywords
    legged locomotion; singularly perturbed systems; hopping strategy; humanoid robot; legged robot; singular perturbation method; stiffness modulation method; Biological system modeling; Biomechanics; Hardware; Humanoid robots; Humans; Leg; Legged locomotion; Mechanical engineering; Perturbation methods; Springs;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
  • Print_ISBN
    0-7803-7860-1
  • Type

    conf

  • DOI
    10.1109/IROS.2003.1250611
  • Filename
    1250611
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2364125