We report progress towards model base, dynamically stable legged locomotion with energy efficient, electrically actuated robots. We 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
CITATION STYLE
Rad, H., Gregori, P., & Buchler, M. (1993). Design, modeling and control of a hopping robot. In 1993 International Conference on Intelligent Robots and Systems (pp. 1778–1785). Publ by IEEE. https://doi.org/10.1109/iros.1993.583877
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