TY - JOUR
T1 - Trajectory planning and control of one-legged hopping robot at thrusting phase
AU - Sakaino, Sho
AU - Ohnishi, Kouhei
PY - 2007
Y1 - 2007
N2 - One of the most important events for hopping robot is lift-off; the end of thrusting phase, since hopping motion often comes to be unstable at lift-off. Therefore, we focus on thrusting phase. In this research, we propose a new controller, which is combined two controllers. We also propose a trajectory planning so that a hopping robot follows command value of vertical velocity. The effectiveness of the proposed methods are confirmed by simulation and experiment.
AB - One of the most important events for hopping robot is lift-off; the end of thrusting phase, since hopping motion often comes to be unstable at lift-off. Therefore, we focus on thrusting phase. In this research, we propose a new controller, which is combined two controllers. We also propose a trajectory planning so that a hopping robot follows command value of vertical velocity. The effectiveness of the proposed methods are confirmed by simulation and experiment.
KW - Hopping height control
KW - Hopping robot
KW - Jumping robot
KW - Thrust force
UR - http://www.scopus.com/inward/record.url?scp=34548226812&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34548226812&partnerID=8YFLogxK
U2 - 10.1541/ieejias.127.884
DO - 10.1541/ieejias.127.884
M3 - Article
AN - SCOPUS:34548226812
VL - 127
SP - 884-889+14
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 8
ER -