Impact force reduction for hopping robot

Yoshiharu Sato, Eijiro Ohashi, Kouhei Ohnishi

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

5 Citations (Scopus)

Abstract

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 Proceedings (Industrial Electronics Conference)
Pages1821-1826
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
EventIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
Duration: 2005 Nov 62005 Nov 10

Other

OtherIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
CountryUnited States
CityRaleigh, NC
Period05/11/605/11/10

Fingerprint

Robots
Landing
Trajectories
Force control
Position control
Gravitation
Computer simulation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Sato, Y., Ohashi, E., & Ohnishi, K. (2005). Impact force reduction for hopping robot. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2005, pp. 1821-1826). [1569182] https://doi.org/10.1109/IECON.2005.1569182

Impact force reduction for hopping robot. / Sato, Yoshiharu; Ohashi, Eijiro; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. p. 1821-1826 1569182.

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

Sato, Y, Ohashi, E & Ohnishi, K 2005, Impact force reduction for hopping robot. in IECON Proceedings (Industrial Electronics Conference). vol. 2005, 1569182, pp. 1821-1826, IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society, Raleigh, NC, United States, 05/11/6. https://doi.org/10.1109/IECON.2005.1569182
Sato Y, Ohashi E, Ohnishi K. Impact force reduction for hopping robot. In IECON Proceedings (Industrial Electronics Conference). Vol. 2005. 2005. p. 1821-1826. 1569182 https://doi.org/10.1109/IECON.2005.1569182
Sato, Yoshiharu ; Ohashi, Eijiro ; Ohnishi, Kouhei. / Impact force reduction for hopping robot. IECON Proceedings (Industrial Electronics Conference). Vol. 2005 2005. pp. 1821-1826
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