Apex height control of a four-link hopping robot

In this paper, the collaboration of CPG networks with the feedback control system which are composed with the maximum hopping height detector and the Proportional Integral (PI) controller as an engineering application for the CPG network is proposed with the developed control systems. By adding the feedback loop through the feedback controller, the developed quadruped hopping robot not only can generate the continuous hopping performances but also can control the desired hopping height. As the result, the effectiveness of CPG networks to keep the stability of the developed quadruped hopping robot besides of confirming the validity of using reference height control system to generate hopping capability at different reference height, respectively.

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Effectiveness of reference height control system for tripod hopping robot

2011 4th International Conference on Mechatronics (ICOM) ◽

10.1109/icom.2011.5937123 ◽

2011 ◽

Cited By ~ 2

Author(s):

A. M. Kassim ◽

M. F. Miskon ◽

N. H. A. Rahim ◽

T. Yasuno

Keyword(s):

Control System ◽

Height Control ◽

Hopping Robot

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Observer design for apex height and vertical velocity of a single-leg hopping robot during stance phase

Robotica ◽

10.1017/s0263574721001429 ◽

2021 ◽

pp. 1-12

Author(s):

Ashish Prakash ◽

Gagan Deep Meena

Keyword(s):

Vertical Velocity ◽

Stance Phase ◽

Estimation Error ◽

Vertical Direction ◽

The State ◽

Observer Design ◽

Space Representation ◽

State Space Representation ◽

Hopping Robot ◽

Apex Height

Abstract This article proposes an observer design for two important variables in the studies of single-leg hopping robot (SLHR), the apex height, and the vertical velocity of SLHR during its stance phase. At first, the Euler–Lagrange (EL) dynamics of SLHR are obtained and apex height is identified in the state-space representation of the EL dynamics. Apex height is the state variable that represents the robot body’s height at the top point, which keeps on changing as the robot functions. Vertical velocity is the velocity of the robot in the vertical direction. An observer design is presented in this article which will estimate these variables when required. The quality of the estimation is validated by the simulation results where the estimation error is zero which means the model output is correct and observer performance is good.

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Observer Backstepping for Height Control of a Resonance Hopping Robot

Climbing and Walking Robots ◽

10.1007/3-540-26415-9_45 ◽

2006 ◽

pp. 375-382

Author(s):

Roemi Fernández ◽

Teodor Akinfiev ◽

Manuel Armada

Keyword(s):

Height Control ◽

Hopping Robot

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A Hopping Height Control for Hopping Robot

IEEJ Transactions on Industry Applications ◽

10.1541/ieejias.124.660 ◽

2004 ◽

Vol 124 (7) ◽

pp. 660-665 ◽

Cited By ~ 3

Author(s):

Eijiro Ohashi ◽

Kouhei Ohnishi

Keyword(s):

Height Control ◽

Hopping Robot

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The SAHR Setup-Controlling Hopping Speed and Height Using a Single Actuator

Applied Bionics and Biomechanics ◽

10.1155/2008/259360 ◽

2008 ◽

Vol 5 (3) ◽

pp. 149-156 ◽

Cited By ~ 1

Author(s):

N. Cherouvim ◽

E. Papadopoulos

Keyword(s):

Dynamic Model ◽

Control Method ◽

Forward Speed ◽

Dynamic Coupling ◽

Experimental Platform ◽

Simulated Model ◽

Hopping Robot ◽

Apex Height

In this paper we present and experimentally validate a control method for regulating both the forward speed and the apex height of a one-legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is applied first to a simulated model of the robot and shown to track a desired forward robot speed and a desired apex height. Then the SAHR (single actuator hopping robot) hardware is introduced and is used as an experimental platform with which to evaluate the performance of the control method. The control method is applied to the physical setup and is shown to lead to a stable hopping gait with a desired forward speed and apex height, despite the unmodelled disturbances met on the laboratory floor.

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