跳躍機械の跳躍高さ制御 A Hopping Height Control for Hopping Robot
In recent years, legged robots are progressed and able to walk just like human beings. Hopping has a possibility of moving faster and avoiding larger obstacles than walking. Thus hopping becomes more significant.<br>In this paper, to take account of torque limits of motors, we propose the method of controlling the hopping height by changing the leg length at bottom. Considering an actual environment, the environment will change as the robot moves around. Therefore we describe the way to estimate an actual thrust force. Using the estimated thrust force, command value of leg length in the landing phase is determined. The effectiveness of proposed method is confirmed by simulative and experimental results.
- 電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society
電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 124(7), 660-665, 2004-07-01