Optimal high-jump control of linear 1-d.o.f trampoline robot

Mechanism and Machine Theory

2016

The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. A fundamental limitation of the SLIP model is that it fails to account for impact with the ground; this is due to the fact that the leg is modeled as a massless spring. Assuming that the ground is rigid, a two-mass model with inelastic impact is proposed for more accurate description of hopping dynamics. A control scheme is developed to converge the maximum jumping height of the center-of-mass of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and update of a control parameter in discrete time. Simulation results are first presented to show the efficacy of the control scheme. Experimental results based on a voice-coil actuator show good match with simulation results despite actuator saturation.

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“…We define r to be the height of the center-of-mass of the robot relative to that of the lower mass m 2 . Using (13) and (16), it can be shown…”

Section: Continuous Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Apex height control of a two-mass robot hopping on a rigid foundation

Mechanism and Machine Theory

2016

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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%

“…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. Ishikawa et al [6] used a port-controlled Hamiltonian method to control the energy of the two mass system to a desired level to maintain a maximum jumping height.…”

Section: Introductionmentioning

confidence: 99%

Apex height control of a two-mass hopping robot

2013 IEEE International Conference on Robotics and Automation

2013

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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Two-mass robot hopping on an elastic foundation: Apex height control

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

2016