Modelling and control of single legged hopping robot

Erk Bamyaci, Musa N. Yazar, S. Murat Yesiloglu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In the scope of legged robotics, this study is about dynamical modelling and control of a single legged two degrees of freedom planar hopping robot while keeping the focus on the interaction forces between the robot and the ground based on a given ground contact model. Based on Raibert's three step algorithm, forward speed control is achieved by adjusting the foot position of the robot at touchdown and height control is achieved by adjusting the compression length of a linear spring. Using Newton-Euler based Spatial Operator Algebra (SOA) method, simulation results of the height control of hopping, forward speed control and the body attitude control of the robot are given in the paper.

Original languageEnglish
Title of host publication2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages705-710
Number of pages6
ISBN (Electronic)9786050107371
Publication statusPublished - 2 Jul 2017
Event10th International Conference on Electrical and Electronics Engineering, ELECO 2017 - Bursa, Turkey
Duration: 29 Nov 20172 Dec 2017

Publication series

Name2017 10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Volume2018-January

Conference

Conference10th International Conference on Electrical and Electronics Engineering, ELECO 2017
Country/TerritoryTurkey
CityBursa
Period29/11/172/12/17

Bibliographical note

Publisher Copyright:
© 2017 EMO (Turkish Chamber of Electrical Enginners).

Fingerprint

Dive into the research topics of 'Modelling and control of single legged hopping robot'. Together they form a unique fingerprint.

Cite this