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: | , , , , |
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| 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 |
| _version_ | 1818256790884712448 |
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| author | Taihui Zhang Honglei An Qing Wei Wenqi Hou Hongxu Ma |
| author_facet | Taihui Zhang Honglei An Qing Wei Wenqi Hou Hongxu Ma |
| author_sort | Taihui Zhang |
| collection | DOAJ |
| description | 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 objective. Then we develop a new kind of control algorithm acting on two levels: The upper level aims to achieve the desired velocity of the upper mass based on a stable limit cycle, where three different controllers are used to regulate the limit cycle; the target of the lower level is to drive the system to converge to the desired state and control the contact force between the foot and ground within an appropriate range based on the inner force control at the same time. Simulation results presented in this paper confirm the efficiency of this control algorithm. |
| first_indexed | 2024-12-12T17:33:22Z |
| format | Article |
| id | doaj.art-eb536b7cd22c48f39fc0f1bf00976211 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-12T17:33:22Z |
| publishDate | 2016-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-eb536b7cd22c48f39fc0f1bf009762112022-12-22T00:17:18ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142016-11-011310.1177/172988141665774910.1177_1729881416657749Height control for a two-mass hopping robot based on stable limit cycleTaihui ZhangHonglei AnQing WeiWenqi HouHongxu MaDiffering 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 objective. Then we develop a new kind of control algorithm acting on two levels: The upper level aims to achieve the desired velocity of the upper mass based on a stable limit cycle, where three different controllers are used to regulate the limit cycle; the target of the lower level is to drive the system to converge to the desired state and control the contact force between the foot and ground within an appropriate range based on the inner force control at the same time. Simulation results presented in this paper confirm the efficiency of this control algorithm.https://doi.org/10.1177/1729881416657749 |
| spellingShingle | Taihui Zhang Honglei An Qing Wei Wenqi Hou Hongxu Ma Height control for a two-mass hopping robot based on stable limit cycle International Journal of Advanced Robotic Systems |
| title | Height control for a two-mass hopping robot based on stable limit cycle |
| title_full | Height control for a two-mass hopping robot based on stable limit cycle |
| title_fullStr | Height control for a two-mass hopping robot based on stable limit cycle |
| title_full_unstemmed | Height control for a two-mass hopping robot based on stable limit cycle |
| title_short | Height control for a two-mass hopping robot based on stable limit cycle |
| title_sort | height control for a two mass hopping robot based on stable limit cycle |
| url | https://doi.org/10.1177/1729881416657749 |
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