DocumentCode
417023
Title
Continuous hopping motion experiment of one linear actuator robot with adaptive fuzzy control
Author
Funato, Tetsuro ; Kuswadi, Son ; Nakaura, Shigeki ; Sampei, Mitsuji
Author_Institution
Tokyo Inst. of Technol., Japan
Volume
2
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
1874
Abstract
This paper deals with the hopping motion experiment of one-legged robot with only one linear actuator. The controller is designed considering one hopping as one cycle of discrete time system, and adaptive fuzzy control is also used to improve the stability. By experiment, continuous hopping was realized and the effectiveness of adaptive fuzzy control was confirmed.
Keywords
actuators; adaptive control; control system synthesis; discrete time systems; fuzzy control; learning systems; legged locomotion; robot dynamics; servomechanisms; stability; adaptive fuzzy control; continuous hopping motion robot; controller design; discrete time system; learning systems; one legged robot; one linear actuator robot; robot dynamics; servomechanisms; stability;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1324266
Link To Document