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

Sho Sakaino; Kouhei Ohnishi

doi:10.1002/eej.20831

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

Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	29-36
Number of pages	8
Journal	Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume	169
Issue number	2
DOIs	https://doi.org/10.1002/eej.20831
Publication status	Published - 2009 Nov 15

Keywords

Hopping height control
Hopping robot
Jumping robot
Thrust force

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering

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10.1002/eej.20831

Cite this

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abstract = "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.",

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KW - Thrust force

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

Abstract

Keywords

ASJC Scopus subject areas

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