Attitude contorl of hopping robot using angular momentum

Yuichi Morita, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper, a construction of hopping control is proposed. The hopping robot considered in this paper has parallel link structure, in order to distribute the load torque of actuators. Collision Relief Control(CRC), Hopping Velocity and Attitude Control(HVAC) and Landing Equipment Control(LEC) are proposed as controllers. The compliance control is introduced in CRC, in order to ease the collision force at landing. HVAC consists of Hopping Velocity Control(HVC) and Attitude Control(AC). In HVC, velocity command is generated by "the law of conservation of kinetic energy". In AC, the command is derived in consideration of change of the posture in aerial phase. LEC is prepared for the next touchdown. The hopping control that can be adapted for many situations is proposed. A simulation is performed applying the proposed control method and the validity of the control method is proved.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Industrial Technology
Pages173-178
Number of pages6
Volume1
Publication statusPublished - 2003
Event2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
Duration: 2003 Dec 102003 Dec 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

Fingerprint

Angular momentum
Velocity control
Attitude control
Robots
Landing
Control equipment
Compliance control
Kinetic energy
Loads (forces)
Conservation
Actuators
Torque
Antennas
Controllers

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Software
  • Industrial and Manufacturing Engineering

Cite this

Morita, Y., & Ohnishi, K. (2003). Attitude contorl of hopping robot using angular momentum. In Proceedings of the IEEE International Conference on Industrial Technology (Vol. 1, pp. 173-178)

Attitude contorl of hopping robot using angular momentum. / Morita, Yuichi; Ohnishi, Kouhei.

Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1 2003. p. 173-178.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Morita, Y & Ohnishi, K 2003, Attitude contorl of hopping robot using angular momentum. in Proceedings of the IEEE International Conference on Industrial Technology. vol. 1, pp. 173-178, 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings, Maribor, Slovenia, 03/12/10.
Morita Y, Ohnishi K. Attitude contorl of hopping robot using angular momentum. In Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1. 2003. p. 173-178
Morita, Yuichi ; Ohnishi, Kouhei. / Attitude contorl of hopping robot using angular momentum. Proceedings of the IEEE International Conference on Industrial Technology. Vol. 1 2003. pp. 173-178
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