In recent years, legged robots have progressed and are able to walk just like human beings. Hopping offers a possibility of moving faster and avoiding larger obstacles than walking. Thus, hopping becomes more significant. In this paper, to take account of torque limits of motors, we propose the method of controlling the hopping height by changing the leg length at bottom. Considering an actual environment, the environment will change as the robot moves around. Therefore, we describe a way to estimate the actual thrust force. Using the estimated thrust force, command value of leg length in the landing phase is determined. The effectiveness of the proposed method is confirmed by simulation and experimental results.
|ジャーナル||Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)|
|出版ステータス||Published - 2006 4 15|
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