Motion control in the support phase for a one-legged hopping robot

Eijiro Ohashi, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

In this paper, the method of determinating the leg length and the leg angle at touchdown is proposed. With this method, the robot can track the soft-landing trajectory, considering the torque limits of the joints. Suppressing impact force in the landing phase remains as a big issue to be resolved for hopping robots. This paper applies the soft-landing trajectory which was proposed before in order to minimize impact force of landing. Regarding hopping as an extended function of walking robots, they would have rotary joints instead of prismatic joints. Considering torque limits of joints, the relationship between the tip position from the COG (center of gravity) and the COG velocity at touchdown is determined so as to track the soft-landing trajectory. In addition, the vertical velocity of the COG is estimated from the duration of the aerial phase. Consequently, even if a floor level varies, the hopping robot can select a proper landing position of the tip without getting over the torque limit at landing. Numerical results verify the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages259-262
Number of pages4
Publication statusPublished - 2004
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

Fingerprint

Motion control
Landing
Robots
Gravitation
Torque
Trajectories
Antennas

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ohashi, E., & Ohnishi, K. (2004). Motion control in the support phase for a one-legged hopping robot. In International Workshop on Advanced Motion Control, AMC (pp. 259-262)

Motion control in the support phase for a one-legged hopping robot. / Ohashi, Eijiro; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2004. p. 259-262.

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

Ohashi, E & Ohnishi, K 2004, Motion control in the support phase for a one-legged hopping robot. in International Workshop on Advanced Motion Control, AMC. pp. 259-262, Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan, 04/3/25.
Ohashi E, Ohnishi K. Motion control in the support phase for a one-legged hopping robot. In International Workshop on Advanced Motion Control, AMC. 2004. p. 259-262
Ohashi, Eijiro ; Ohnishi, Kouhei. / Motion control in the support phase for a one-legged hopping robot. International Workshop on Advanced Motion Control, AMC. 2004. pp. 259-262
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