{"title":"弹性基础上双质量跳跃机器人:顶点高度控制","authors":"F. Mathis, R. Mukherjee","doi":"10.1109/CMI.2016.7413732","DOIUrl":null,"url":null,"abstract":"The problem of controlling the apex height of a two-mass robot hopping on a massless elastic foundation is addressed. A backstepping controller is used to stabilize the dynamics of the robot in the flight and contact phases and a discrete controller is used to stabilize the overall hybrid dynamics. The efficacy of the controller is demonstrated using simulations.","PeriodicalId":244262,"journal":{"name":"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)","volume":"280 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Two-mass robot hopping on an elastic foundation: Apex height control\",\"authors\":\"F. Mathis, R. Mukherjee\",\"doi\":\"10.1109/CMI.2016.7413732\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The problem of controlling the apex height of a two-mass robot hopping on a massless elastic foundation is addressed. A backstepping controller is used to stabilize the dynamics of the robot in the flight and contact phases and a discrete controller is used to stabilize the overall hybrid dynamics. The efficacy of the controller is demonstrated using simulations.\",\"PeriodicalId\":244262,\"journal\":{\"name\":\"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)\",\"volume\":\"280 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-02-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CMI.2016.7413732\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CMI.2016.7413732","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Two-mass robot hopping on an elastic foundation: Apex height control
The problem of controlling the apex height of a two-mass robot hopping on a massless elastic foundation is addressed. A backstepping controller is used to stabilize the dynamics of the robot in the flight and contact phases and a discrete controller is used to stabilize the overall hybrid dynamics. The efficacy of the controller is demonstrated using simulations.
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