The SAHR Setup-Controlling Hopping Speed and Height Using a Single Actuator | Zendy

Nicholas Cherouvim | Zendy; Evangelos Papadopoulos | Zendy

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The SAHR Setup-Controlling Hopping Speed and Height Using a Single Actuator

Author(s) -

Nicholas Cherouvim,

Evangelos Papadopoulos

Publication year - 2008

Publication title -

applied bionics and biomechanics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.397

H-Index - 23

eISSN - 1754-2103

pISSN - 1176-2322

DOI - 10.1155/2008/259360

Subject(s) - actuator , robot , control theory (sociology) , simulation , coupling (piping) , engineering , track (disk drive) , computer science , control (management) , artificial intelligence , mechanical engineering , electrical engineering

In this paper we present and experimentally validate a control method for regulating both the forward speed and the apex height of a one-legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is applied first to a simulated model of the robot and shown to track a desired forward robot speed and a desired apex height. Then the SAHR (single actuator hopping robot) hardware is introduced and is used as an experimental platform with which to evaluate the performance of the control method. The control method is applied to the physical setup and is shown to lead to a stable hopping gait with a desired forward speed and apex height, despite the unmodelled disturbances met on the laboratory floor.

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