{"title":"Two-mass robot hopping on an elastic foundation: Apex height control","authors":"F. Mathis, R. Mukherjee","doi":"10.1109/CMI.2016.7413732","DOIUrl":null,"url":null,"abstract":"The problem of controlling the apex height of a two-mass robot hopping on a massless elastic foundation is addressed. A backstepping controller is used to stabilize the dynamics of the robot in the flight and contact phases and a discrete controller is used to stabilize the overall hybrid dynamics. The efficacy of the controller is demonstrated using simulations.","PeriodicalId":244262,"journal":{"name":"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)","volume":"280 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CMI.2016.7413732","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The problem of controlling the apex height of a two-mass robot hopping on a massless elastic foundation is addressed. A backstepping controller is used to stabilize the dynamics of the robot in the flight and contact phases and a discrete controller is used to stabilize the overall hybrid dynamics. The efficacy of the controller is demonstrated using simulations.