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 |
巻 | 127 |
号 | 8 |
DOI | |
出版ステータス | Published - 2007 |
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering