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Three-dimensional Locomotion Control of Single-legged Robot: Resonance Hopping and Running Direction

Title
Three-dimensional Locomotion Control of Single-legged Robot: Resonance Hopping and Running Direction
Authors
Moon, Jeon IlKang, Tae Hun
DGIST Authors
Moon, Jeon IlKang, Tae Hun
Issue Date
2016-10
Citation
International Journal of Control, Automation, and Systems, 14(5), 1331-1339
Type
Article
Article Type
Article
Keywords
Locomotion controlresonance oscillation hoppingrunning directionsingle-legged robot.
ISSN
1598-6446
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 angular momentum control. First, we propose an effective method called a virtual spring to generate a springy force using a linear actuator. Two virtual springs are adopted to compute the energy exchange and to compensate the energy loss during hopping. A simple and intuitive method is proposed to implement resonance oscillation in terms of energy loss. A height controller is proposed based on the resonance oscillation using a virtual spring. In addition, a running direction controller, which has never been resolved in previous studies, is proposed. This novel controller can remove the unexpected angular momentum about the yaw direction during running. All of the proposed algorithms and methods are validated through dynamic simulations. © 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.
URI
http://hdl.handle.net/20.500.11750/5670
DOI
10.1007/s12555-015-0128-6
Publisher
제어·로봇·시스템학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Collaborative Robots1. Journal Articles


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