Title :
Control of a hopping apparatus
Author_Institution :
S.P. Timoshenko Inst. of Mech., Acad. of Sci., Kiev, Ukraine
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;
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
DOI :
10.1109/ETFA.1996.573987
