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

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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 http://hdl.handle.net/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

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