Title :
Control of forward velocity for a simplified planar hopping robot
Author :
Schwind, William J. ; Koditschek, Daniel E.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
Abstract :
A simplified lossless model of the Raibert planar hopper is introduced for the purpose of analytically studying the control of forward velocity. A closed-form return map describing the robot´s state at the next hop as a function of that at the current hop is derived. The Raibert forward velocity controller is introduced and the fixed points of the closed loop system are characterized as well as the stability of these points. A new control law inspired by this analysis is introduced and compared with the Raibert control law
Keywords :
closed loop systems; legged locomotion; velocity control; Raibert planar hopper; closed loop system; closed-form return map; forward velocity control; lossless model; simplified planar hopping robot; Acceleration; Attitude control; Closed loop systems; Control systems; Foot; Leg; Legged locomotion; Robot control; Stability; Velocity control;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525364
