DocumentCode
3162030
Title
A posture control method for a hopping robot based on a linear dual mode system
Author
Harasawa, Kazuki ; Kondo, Ryou
Author_Institution
Grad. Sch., Ibaraki Univ., Hitachi
fYear
2008
fDate
20-22 Aug. 2008
Firstpage
3214
Lastpage
3217
Abstract
A new posture control method for a hopping robot has been proposed in this paper. The motion of the hopping robot can be approximated by a hybrid system composed of two linear systems for the stance phase and the flight phase, and two phase transition maps for touchdown and lift-off events. We have shown that the whole system can be stabilized by properly selected linear feedback laws for those linear systems. The effectiveness of the method has been shown by simulations and experiments.
Keywords
approximation theory; feedback; linear systems; minimax techniques; mobile robots; phase transformations; stability; approximation; flight phase; hopping robot; linear dual mode system; linear feedback law; linear system; minimax problem; phase transition map; posture control method; stabilization feedback law; stance phase; Attitude control; Control systems; Equations; Feedback; Hip; Leg; Linear approximation; Linear systems; Robot control; Torque control; Hopping robot; Hybrid system; Linear dual mode system; Posture control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference, 2008
Conference_Location
Tokyo
Print_ISBN
978-4-907764-30-2
Electronic_ISBN
978-4-907764-29-6
Type
conf
DOI
10.1109/SICE.2008.4655219
Filename
4655219
Link To Document