Landing Motion Control of Articulated Hopping Robot

International Journal of Advanced Robotic Systems

关键词: Legged locomotion;    Landing motion;    Hopping robot;    Body stiffness and damping;    Flexible joint;   

DOI  :  10.5772/5686

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper deals with the landing motion of an articulated legged robot. Humans use a peculiar crouching motion to land safely which can be characterized by body stiffness and damping. A stiffness controller formulation is used to realize this human behavior for the robot. Using this method, the landing motion is achieved with only the desired body stiffness and damping values, without desired COG(Center of Gravity) or joint paths. To achieve soft landing, variable body stiffness and damping values were optimized.PBOT, which has four links with flexible joints was used for validation of the landing controller. A body stiffness and damping controller was used as an outer landing control loop and a fast subsystem controller for flexible joints was used as an inner force control loop. Simulations and experimental results about the landing motion are presented to show the performance of the body stiffness and damping controller.

【 授权许可】

CC BY