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

Sho Sakaino, Kouhei Ohnishi

研究成果: Article査読

2 被引用数 (Scopus)

抄録

One of the most important events for hopping robots is lift-off (the end of thrusting phase) since hopping motions often become unstable during the lift-off. Therefore, we focus on the thrusting phase. In this research, we propose a new controller, which combines two controllers. We also propose a trajectory planning so that a hopping robot follows command value of the vertical velocity. The effectiveness of the proposed methods is confirmed by simulation and experiments.

本文言語English
ページ(範囲)29-36
ページ数8
ジャーナルElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
169
2
DOI
出版ステータスPublished - 2009 11月 15

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学

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