The SAHR setup-controlling hopping speed and height using a single actuator

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:29:20Z
dc.date.available	2014-03-01T01:29:20Z
dc.date.issued	2008	en
dc.identifier.issn	11762322	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19231
dc.subject	Control	en
dc.subject	Hopping	en
dc.subject	Legged	en
dc.subject	Single actuator	en
dc.subject.other	Actuators	en
dc.subject.other	Fluid structure interaction	en
dc.subject.other	Industrial robots	en
dc.subject.other	Robotics	en
dc.subject.other	Speed	en
dc.subject.other	A stables	en
dc.subject.other	Control methods	en
dc.subject.other	Dynamic couplings	en
dc.subject.other	Experimental platforms	en
dc.subject.other	Forward motions	en
dc.subject.other	Forward speeds	en
dc.subject.other	Hopping	en
dc.subject.other	Hopping robots	en
dc.subject.other	Legged	en
dc.subject.other	Set-ups	en
dc.subject.other	Simulated models	en
dc.subject.other	Single actuator	en
dc.subject.other	Robots	en
dc.title	The SAHR setup-controlling hopping speed and height using a single actuator	en
heal.type	journalArticle	en
heal.identifier.primary	10.1080/11762320802564218	en
heal.identifier.secondary	http://dx.doi.org/10.1080/11762320802564218	en
heal.publicationDate	2008	en
heal.abstract	In this paper we present and experimentally validate a control method for regulating both the forward speed and the apex height of a one-legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is applied first to a simulated model of the robot and shown to track a desired forward robot speed and a desired apex height. Then the SAHR (single actuator hopping robot) hardware is introduced and is used as an experimental platform with which to evaluate the performance of the control method. The control method is applied to the physical setup and is shown to lead to a stable hopping gait with adesired forward speed and apex height, despite the unmodelled disturbances met on the laboratory floor. © 2008 Taylor and Francis.	en
heal.journalName	Applied Bionics and Biomechanics	en
dc.identifier.doi	10.1080/11762320802564218	en
dc.identifier.volume	5	en
dc.identifier.issue	3	en
dc.identifier.spage	149	en
dc.identifier.epage	156	en