Impact force reduction for hopping robot

Yoshiharu Sato, Eijiro Ohashi, Kouhei Ohnishi

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2005
ホスト出版物のサブタイトル31st Annual Conference of IEEE Industrial Electronics Society
ページ1821-1826
ページ数6
DOI
出版ステータスPublished - 2005 12 1
イベントIECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
継続期間: 2005 11 62005 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2005

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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