{"title":"双质量跳跃机器人的顶点高度控制","authors":"F. Mathis, R. Mukherjee","doi":"10.1109/ICRA.2013.6631259","DOIUrl":null,"url":null,"abstract":"The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.","PeriodicalId":259746,"journal":{"name":"2013 IEEE International Conference on Robotics and Automation","volume":"102 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"Apex height control of a two-mass hopping robot\",\"authors\":\"F. Mathis, R. Mukherjee\",\"doi\":\"10.1109/ICRA.2013.6631259\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.\",\"PeriodicalId\":259746,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Automation\",\"volume\":\"102 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICRA.2013.6631259\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA.2013.6631259","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to account for impact with the ground, and this is due to its single degree-of-freedom in the vertical direction. A more accurate representation of the hopping robot is proposed using a two mass model and inelastic impact with the ground. A control scheme is developed to converge the maximum jumping height of the robot to a desired value. The control scheme utilizes feedback linearization in continuous time and updates a control parameter in discrete time to achieve the control objective. Simulation results are presented to show the efficacy of the control scheme.
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