Energy preserving control of a hopping robot based on hybrid port-controlled Hamiltonian modeling

Ishikawa, Masato; Neki, A.; Imura, Jun‐ichi; Hara, Shinji

doi:10.1109/cca.2003.1223170

Cited by 16 publications

(12 citation statements)

References 11 publications

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“…To account for these impulsive forces and model the dynamics of the hopper more accurately, it is necessary to model the leg as a mass rather than a massless spring. Saitou [11] and Ishikawa et al [6] proposed a two-mass system for a hopping robot in an effort to obtain a more accurate model of the robot in the flight phase. Saitou et al [11] used optimal control methods to maximized the jumping height of the robot in the presence of control constraints.…”

Section: Introductionmentioning

confidence: 99%

Apex height control of a two-mass hopping robot

Mathis

Mukherjee

2013

2013 IEEE International Conference on Robotics and Automation

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The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.

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Section: Introductionmentioning

confidence: 99%

Apex height control of a two-mass hopping robot

Mathis

Mukherjee

2013

2013 IEEE International Conference on Robotics and Automation

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“…Niiyama [1] realized a jump motion of a humanoid robot with musculoskeletal mechanism. Ishikawa [2] proposed a motion stabilization method of hopping robots based on hybrid-system control theory. Ugurlu [3] researches on control.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of nonlinear profile of gear ratio using non-circular gear for jumping robot

Okada

Takeda

2012

2012 IEEE International Conference on Robotics and Automation

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In this paper, we develop a design method of nonlinear profile of gear ratio to utilize a DC servo motor effectively for a jumping robot. Because the larger ground force yields the higher kinetic energy of the robot body, the optimal gear ratio is obtained by the maximization of the ground force from statics point of view. Moreover, the varying gear ratio during the jump motion is obtained through a simulation which connects statics-based optimization and robot dynamics. A noncircular gear is synthesized which realizes the obtained optimal varying gear ratio. The effectiveness of the proposed method is evaluated by simulations.

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“…It provides a framework to describe a system in terms of energy variables and interconnection of sub-systems by means of power ports. So far, it was adopted to model the dynamical behavior of robots with rigid or flexible links [14], hybrid hopping robots [15], underactuated aerial vehicles [16], soft finger manipulation [17], as well as for the control of bipedal walking robots [18]. This paper introduces a very general PH model for the collaborative task of manipulating a rigid object by a humanrobot team.…”

Section: Introductionmentioning

confidence: 99%