Trajectory planning and control of one-legged hopping robot at thrusting phase

Sho Sakaino, Kouhei Ohnishi

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)884-889+14
ジャーナルieej transactions on industry applications
127
8
DOI
出版ステータスPublished - 2007

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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