{"title":"Passive periodic motion of an asymmetric spring loaded inverted pendulum hopping robot","authors":"Y. Ni, X. Meng","doi":"10.23967/j.rimni.2023.01.002","DOIUrl":null,"url":null,"abstract":"For improving the energy efficiency of hopping robot, an asymmetric spring loaded inverted pendulum hopping model with leg mass is considered. The period orbit problem of two-legged hopping robot is investigated. Firstly, the hybrid dynamic model is constructed. Then the passive hopping gaits are found using quasi-newton optimization method. Secondly, a PD controller is implemented to track the desired pitch trajectory of the body. Through applying control during stance phase, period orbits of the robot with offset body mass is obtained. Finally, the effect of the location of the leg mass and the body mass on hopping performances is investigated.","PeriodicalId":49607,"journal":{"name":"Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria","volume":"7 1","pages":""},"PeriodicalIF":0.3000,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.23967/j.rimni.2023.01.002","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
For improving the energy efficiency of hopping robot, an asymmetric spring loaded inverted pendulum hopping model with leg mass is considered. The period orbit problem of two-legged hopping robot is investigated. Firstly, the hybrid dynamic model is constructed. Then the passive hopping gaits are found using quasi-newton optimization method. Secondly, a PD controller is implemented to track the desired pitch trajectory of the body. Through applying control during stance phase, period orbits of the robot with offset body mass is obtained. Finally, the effect of the location of the leg mass and the body mass on hopping performances is investigated.
期刊介绍：
International Journal of Numerical Methods for Calculation and Design in Engineering (RIMNI) contributes to the spread of theoretical advances and practical applications of numerical methods in engineering and other applied sciences. RIMNI publishes articles written in Spanish, Portuguese and English. The scope of the journal includes mathematical and numerical models of engineering problems, development and application of numerical methods, advances in software, computer design innovations, educational aspects of numerical methods, etc. RIMNI is an essential source of information for scientifics and engineers in numerical methods theory and applications. RIMNI contributes to the interdisciplinar exchange and thus shortens the distance between theoretical developments and practical applications.
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