DocumentCode
2815848
Title
Control of a hopping apparatus
Author
Larin, Vladimir
Author_Institution
S.P. Timoshenko Inst. of Mech., Acad. of Sci., Kiev, Ukraine
Volume
2
fYear
1996
fDate
18-21 Nov 1996
Firstpage
684
Abstract
A problem of control of the model of a one-legged hopping apparatus is considered. Relations determining a program mode of movement are received. The problem of synthesis of system of stabilization is reduced to periodic linear quadratic problem. Example of synthesis of control system of hopping apparatus are considered and the results of simulation of starting processes of these apparatus are presented
Keywords
control system synthesis; legged locomotion; linear quadratic control; mobile robots; periodic control; robot dynamics; stability; LQ control; control synthesis; one-legged hopping apparatus; periodic linear quadratic control; program mode; stabilization; Automatic control; Control system synthesis; Differential equations; Finite difference methods; Gravity; Leg; Legged locomotion; Motion control; Robot kinematics; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Emerging Technologies and Factory Automation, 1996. EFTA '96. Proceedings., 1996 IEEE Conference on
Conference_Location
Kauai, HI
Print_ISBN
0-7803-3685-2
Type
conf
DOI
10.1109/ETFA.1996.573987
Filename
573987
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