Title :
Apex height control of a two-mass hopping robot
Author :
Mathis, Frank B. ; Mukherjee, Rohan
Author_Institution :
Dept. of Mechaincal Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.
Keywords :
continuous time systems; discrete time systems; feedback; legged locomotion; nonlinear control systems; pendulums; robot dynamics; springs (mechanical); SLIP model; apex height control; continuous time; discrete time; feedback linearization; hopping robot control; hopping robot dynamics; inelastic impact; single degree-of-freedom; spring loaded inverted pendulum model; two mass model; two-mass hopping robot; Dynamics; Equations; Force; Load modeling; Robot kinematics; Springs;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631259
