Modeling and Control of a Single-legged Robot
This paper deals with a planer single-legged robot that is capable of hopping.The model of the robot is constructed as an inverted pendulum with an additional flywheel.The phases of each hopping cycle are anglicized and are treated with different control scheme.By adopting the three part control scheme that proposed by Raibert, we improve the speed control part by solving the equations of motion of the model introduced before which provides a better way to specify control parameters which are not addressed by Raibert.Simulation results of rate regulation show that the control scheme is able to regulate the rate of single-legged Robot at a desired speed with high stability thus show the control is valid and feasible for realizing rate regulation.
Single-legged robots legged locomotion rate control
Xiaowen Yu Chenglong Fu Ken Chen
Robotics and Automaiton Labtory,Department of Precision Instruments and Mechanology,Tsinghua University,100084,Beijing,China
国际会议
International Conference on Advances in Engineering 2011(2011年工程研究进展国际学术会议 ICAE2011)
南京
英文
788-792
2011-12-17（万方平台首次上网日期，不代表论文的发表时间）