Modeling, motion planning, and control of one-legged hopping robot actuated by two arms

He, Guangping; Tan, Xiaolan; Zhang, Xianghui; Lu, Zixing

doi:10.1016/j.mechmachtheory.2007.01.001

Cited by 20 publications

(11 citation statements)

References 27 publications

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“…In order to solve for that extra unknown, another constraining Eq. (19) is needed to keep that mass fixed.…”

Section: Equations Of Motionmentioning

confidence: 99%

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Modeling, design, and implementation of a baton robot with double-action inertial actuation

Zoghzoghy¹,

Zhao²,

Hürmüzlü³

2015

Mechatronics

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“…In order to solve for that extra unknown, another constraining Eq. (19) is needed to keep that mass fixed.…”

Section: Equations Of Motionmentioning

confidence: 99%

“…Lees et al [16] have shown that this motion can enhance the jump by up to 28%. This pendulum like motion have been utilized in several designs [17][18][19][20][21][22][23]. Although successful, the produced jumps and progression velocities were too small compared to the size of the actual robot.…”

Section: Introductionmentioning

confidence: 99%

Modeling, design, and implementation of a baton robot with double-action inertial actuation

Zoghzoghy¹,

Zhao²,

Hürmüzlü³

2015

Mechatronics

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“…Here we just give a brief description of the target motion of the hopping robot in stance phase, for more detailed contents one can refer to the reference. 30 Due to the periodic motion manner, the telescopic motion of the leg should be the resonance…”

Section: Numerical Simulationsmentioning

confidence: 99%

Robust backstepping control of an underactuated one-legged hopping robot in stance phase

Zhang

2009

Robotica

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SUMMARYExponentially stabilizing a non-Spring Loaded Inverted Pendulum (SLIP) model-based one-legged hopping robot in stance phase is studied. Differing from the SLIP model systems, the hopping robot with non-SLIP model considered in this paper does not restrict the center of mass of the robot coinciding to the hip joint. A specific underactuated one-legged hopping robot with two actuated arms are selected to investigate the dynamics and control problem. It is shown that the system holds the essential nonlinear prosperities of general systems and belongs to a class of second-order nonholonomic mechanical systems, which cannot be stabilized by any smooth time-invariant state feedback. By using a coordinates transform based on the so-called normalized momentum, a robust backstepping control method is presented for the specific hopping robot system. Both theoretical analysis and numerical simulations show that the robust backstepping controller can stabilize the underactuated one-legged hopping robot to its balance configuration as well as a periodic motion trajectory near to the balance configuration. These results are significative for designing a new non-SLIP model based hopping robot systems with more biological characteristics.

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“…The same type of actuator can be used to generate inertial forces for dynamic reorientation as in [19]. Several can be coupled together to generate forces and torques along more than one directions [20], allowing more complex control strategies. Force and moment generation using rotating arms can thus be an interesting means to actively damp vibrations of a CDPR mobile platform.…”

Section: Introductionmentioning

confidence: 99%

An Active Stabilizer for Cable-Driven Parallel Robot Vibration Damping

Lesellier

Cuvillon

Gangloff

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Cable-Driven Parallel Robots (CDPRs) can execute fast motions across a large workspace. However, these performances are reached at the cost of a relatively low stiffness which often yields parasitic vibrations at the CDPR mobile platform. In this paper, vibration damping of CDPRs is addressed by means of an original active stabilizer consisting of actuated rotating arms installed on-board the CDPR mobile platform. A control strategy for the whole system, which consists of the CDPR and the stabilizer, and with one purpose for eachposition control for the platform and vibration damping for the stabilizer-is designed. The system being controlled at two different time scales, the singular perturbation theory can be used to prove the stability of the corresponding closed-loop system. The efficiency of the proposed device and control strategy is tested in simulations in the case of a planar 3-DOF CDPR equipped with a three-arm stabilizer.

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Modeling, motion planning, and control of one-legged hopping robot actuated by two arms

Cited by 20 publications

References 27 publications

Modeling, design, and implementation of a baton robot with double-action inertial actuation

Modeling, design, and implementation of a baton robot with double-action inertial actuation

Robust backstepping control of an underactuated one-legged hopping robot in stance phase

An Active Stabilizer for Cable-Driven Parallel Robot Vibration Damping

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