DocumentCode
299916
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
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
691
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525364
Filename
525364
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