Design, modeling and control of a hopping robot

  • Rad H
  • Gregorio P
  • Buehler M
  • 25

    Readers

    Mendeley users who have this article in their library.
  • 31

    Citations

    Citations of this article.

Abstract

The authors report progress towards model based, dynamically stable legged locomotion with energy efficient, electrically actuated robots. The present the mechanical design of a prismatic robot leg which is optimized for electrical actuation. A dynamical model of the robot and the actuator as well as the interaction with ground is derived and validated by demonstrating close correspondence between simulations and experiments. A new continuous, and exactly implementable open loop torque control algorithm is introduced which stabilizes a limit cycle of the underlying fourth order intermittent robot/actuator/environment dynamics

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document

Authors

  • H. Rad

  • P. Gregorio

  • M. Buehler

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free