Title :
A hopping robot with impulsive actuator
Author :
Uno, Kouhei ; Ohmori, Minoru ; Kondo, Ryou
Author_Institution :
Graduate Sch.of Sci. & Technol., Ibaraki Univ., Japan
Abstract :
In this paper, a hopping robot with a small actuator is presented. The hopping robot is modeled as 2 masses and a spring, and is analyzed on the optimal timing of impulsive input. We proposed a mechanism of generating impulsive input by a motor, and developed a hopping robot using it.
Keywords :
actuators; control system analysis; mobile robots; transient response; hopping robot; impulsive actuator; impulsive input generation mechanism; jumping height; motor revolution; optimal timing of impulsive input; small actuator; Actuators; Robots;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195547
