Paper Info
Title
Apex height control of a four-link hopping robot
Abstract
Bipedal robots have the potential to provide robust locomotion over uneven terrain and its dynamic stability has been shown to be analogous to that of a spring loaded inverted pendulum (SLIP). The SLIP model is fundamentally limited in its ability to accurately represent legged locomotion since it does not take into account the impulsive dynamics of foot ground interaction. In this paper we investigate the control of a four-link hopping robot based on the complete dynamics of the system. Using partial feedback linearization to control the configuration in continuous time, and discrete parameter variations the control object of apex height control of the robot is achieved. Simulation results are presented to show the efficacy of the control scheme.
Year
DOI
Venue
2013
10.1109/IROS.2013.6697097
Intelligent Robots and Systems
Keywords
Field
DocType
discrete systems,feedback,legged locomotion,linearisation techniques,nonlinear control systems,pendulums,robust control,SLIP model,apex height control,bipedal robots,discrete parameter variations,dynamic stability,foot ground interaction,four-link hopping robot,impulsive dynamics,legged locomotion,partial feedback linearization,robust locomotion,spring loaded inverted pendulum,uneven terrain
Inverted pendulum,Computer science,Apex (geometry),Control theory,Terrain,Slip (materials science),Control engineering,Robot locomotion,Robust control,Pendulum,Robot
Conference
ISSN
Citations 
PageRank 
2153-0858
2
0.40
References 
Authors
10
2
Name
Order
Citations
PageRank
Frank B. Mathis1102.07
Ranjan Mukherjee227061.02