Control of hopping speed and height over unknown rough terrain using a single actuator

Cherouvim, N; Papadopoulos, E

dc.contributor.author	Cherouvim, N	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:51:52Z
dc.date.available	2014-03-01T02:51:52Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35705
dc.subject	Control Algorithm	en
dc.subject	Rough Terrain	en
dc.subject	Speed Control	en
dc.title	Control of hopping speed and height over unknown rough terrain using a single actuator	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2009.5152232	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2009.5152232	en
heal.publicationDate	2009	en
heal.abstract	We present a method for controlling the forward speed and the apex height of a one-legged hopping robot over rough terrain, using a single actuator located at the robot hip. The control algorithm is comprised of two elements, the forward speed control and the height control. The only input to the system is the torque applied by the hip actuator.	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2009.5152232	en