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
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;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655219
