Single Actuator Control Analysis of a Planar 3DOF Hopping Robot

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:49:58Z
dc.date.available	2014-03-01T02:49:58Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34828
dc.relation.uri	http://www.roboticsproceedings.org/rss01/p20.html	en
dc.relation.uri	http://nereus.mech.ntua.gr/pdf_ps/RSS05.pdf	en
dc.relation.uri	http://www.informatik.uni-trier.de/~ley/db/conf/rss/rss2005.html#CherouvimP05	en
dc.subject	Controller Design	en
dc.subject	Energy Transfer	en
dc.subject	Indexing Terms	en
dc.subject	Robot Control	en
dc.title	Single Actuator Control Analysis of a Planar 3DOF Hopping Robot	en
heal.type	conferenceItem	en
heal.publicationDate	2005	en
heal.abstract	In this paper we explore the mechanism of energy transfer between the single actuated DOF of a one-legged hopping robot and the remaining unactuated DOFs, during stable running. The concept of the energy transfer mechanism is laid out, after which follows an analytical study. Using this study, an initial controller is derived for the control of a simple SLIP model	en
heal.journalName	Robotics: Science and Systems	en