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Three dimensional locomotion control of single-legged robot

Title
Three dimensional locomotion control of single-legged robot
Authors
Kang, Tae HunMoon, Jeon Il
DGIST Authors
Kang, Tae HunMoon, Jeon Il
Issue Date
2013
Citation
2013 13th International Conference on Control, Automation and Systems, ICCAS 2013, 1117-1122
Type
Conference
Article Type
Conference Paper
ISBN
9790000000000
ISSN
1598-7833
Abstract
This study proposes a locomotion controller for a single-legged robot. The locomotion controller comprises five parts: virtual spring, height control, forward velocity control, body attitude control, and running direction control. First, we propose an effective method called a virtual spring to generate a springy force using a linear actuator. Second, a height controller is proposed based on the resonance oscillation using two virtual springs. And, they are also adopted to compute the energy exchange and to compensate the energy loss during hopping. In addition, a running direction controller, which has never been resolved in previous studies, is proposed. This novel controller can remove the unexpected angular motion about the yaw direction during running. All of the proposed algorithms and methods are validated through dynamic simulations. © 2013 IEEE.
URI
http://hdl.handle.net/20.500.11750/5511
DOI
10.1109/ICCAS.2013.6704084
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
Files:
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Collection:
Convergence Research Center for Collaborative Robots2. Conference Papers


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