Impact force reduction for hopping robot

Yoshiharu Sato, Eijiro Ohashi, Kouhei Ohnishi

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

10 Citations (Scopus)


In controlling a hopping robot, reducing reaction force from the ground is important. We propose a method for a hopping robot to reduce impact force at the instant of touchdown. Our method is based on the idea of the soft-landing trajectory and optimal approach velocity. By applying our method to a robot system, a robot can suppress the impact force at the instant of touchdown and press the ground with constant force continuously. Furthermore, selection ratios of position and force are introduced to achieve a smooth transition from force control to position control during the landing phase. It is important for a hopping robot to achieve a desired position when the position of the COG (center of gravity) is the lowest; because the robot have to prepare for a next hop. With this method, the impact force at touchdown is suppressed and the robot can track the desired trajectory. The method is applied to a robot which is constrained to move only vertical direction. Validity of our method is confirmed by numerical simulations.

Original languageEnglish
Title of host publicationIECON 2005
Subtitle of host publication31st Annual Conference of IEEE Industrial Electronics Society
Number of pages6
Publication statusPublished - 2005 Dec 1
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)


OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
Country/TerritoryUnited States
CityRaleigh, NC

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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