A one linear actuator hopping robot: modeling and control

2003 ◽  
Vol 17 (8) ◽  
pp. 709-737 ◽  
Author(s):  
Son Kuswadi ◽  
Aki Ohnishi ◽  
Akiko Takahashi ◽  
Mitsuji Sampei ◽  
Shigeki Nakaura
Keyword(s):  
Linear Actuator ◽  
Modeling And Control ◽  
Hopping Robot ◽  
And Control ◽  
Robot Modeling

BIOMIMETIC APPROACH FOR TORTOISE-LIKE ROBOT MODELING AND CONTROL

2008 ◽  
Author(s):  
H. EL DAOU ◽  
J-C. GUINOT ◽  
P-A. LIBOUREL ◽  
S. RENOUS ◽  
V. BELS
Keyword(s):  
Modeling And Control ◽  
Biomimetic Approach ◽  
And Control ◽  
Robot Modeling

scholarly journals DQ Robotics: A Library for Robot Modeling and Control

2020 ◽  
pp. 0-0 ◽  
Author(s):  
Bruno Vilhena Adorno ◽  
Murilo Marques Marinho
Keyword(s):  
Modeling And Control ◽  
And Control ◽  
Robot Modeling

Skid steering mobile robot modeling and control

2014 ◽  
Author(s):  
Osama Elshazly ◽  
Ahmed Abo-Ismail ◽  
Hossam S. Abbas ◽  
Zakarya Zyada
Keyword(s):  
Mobile Robot ◽  
Modeling And Control ◽  
Skid Steering ◽  
And Control ◽  
Robot Modeling

Echo State Networks for Mobile Robot Modeling and Control

2004 ◽  
pp. 157-168 ◽  
Author(s):  
Paul G. Plöger ◽  
Adriana Arghir ◽  
Tobias Günther ◽  
Ramin Hosseiny
Keyword(s):  
Mobile Robot ◽  
Modeling And Control ◽  
Echo State Networks ◽  
And Control ◽  
Robot Modeling

Dynamic modeling and control of hopping robot in planar space

2016 ◽  
Vol 9 (2) ◽  
pp. 153-161 ◽  
Author(s):  
Seungbin Baek ◽  
Junho Park ◽  
Youngjun Joo ◽  
Jongguk Yim ◽  
Youngjin Choi
Keyword(s):  
Dynamic Modeling ◽  
Modeling And Control ◽  
Planar Space ◽  
Hopping Robot ◽  
And Control

scholarly journals Dynamics and Switching Control of a Class of Underactuated Mechanical Systems with Variant Constraints

2019 ◽  
Vol 9 (20) ◽  
pp. 4235
Author(s):  
Tingting Su ◽  
Xu Liang ◽  
Guangping He ◽  
Taoming Jia ◽  
Quanliang Zhao ◽  
...  
Keyword(s):  
Periodic Orbits ◽  
Nonholonomic Systems ◽  
Switching Control ◽  
Underactuated Mechanical Systems ◽  
Modeling And Control ◽  
Constraint Systems ◽  
Hopping Robot ◽  
Real World Applications ◽  
Dynamics And Control ◽  
And Control

Locomotion systems with variant constraints are familiar in real world applications, but the dynamics and control issues of variant constraint systems have not been sufficiently discussed to date. From the viewpoint of Lagrange–d’Alembert equations with additional variable constraints, this paper investigates the modeling approaches of a class of hybrid dynamical systems (HDS) with instantaneously variant constraints and the switching control techniques of stabilizing the HDS to given periodic orbits. It is shown that under certain conditions there possibly exist zero impact periodic orbits in the HDS, and the HDS can be stabilized to the period-one orbits by a linear controller with only partial state feedback, even though the HDS are generally underactuated nonholonomic systems. As an example, a one-legged planar hopping robot is employed to demonstrate the main results of modeling and control of a class of HDS.

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