Height control for a two-mass hopping robot based on stable limit cycle
Differing from the commonly used spring loaded inverted pendulum model, this paper makes use of a two-mass spring model considering impact between the foot and ground which is closer to the real hopping robot. The height of upper mass which includes the upper leg and body is the main control objecti...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881416657749 |