弹性基础上双质量跳跃机器人:顶点高度控制

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI) Pub Date : 2016-02-25 DOI:10.1109/CMI.2016.7413732

F. Mathis, R. Mukherjee

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引用次数: 1

摘要

研究了在无质量弹性基础上跳跃的双质量机器人的顶点高度控制问题。采用反步控制器稳定机器人在飞行和接触阶段的动力学，采用离散控制器稳定整体混合动力学。通过仿真验证了该控制器的有效性。

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Two-mass robot hopping on an elastic foundation: Apex height control

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.

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来源期刊

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

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