Control of hopping height for a one-legged hopping machine

Joseph Prosser; Moshe Kam

doi:10.1117/12.143828

4 May 1993 Control of hopping height for a one-legged hopping machine

Joseph Prosser, Moshe Kam

Proceedings Volume 1831, Mobile Robots VII; (1993) https://doi.org/10.1117/12.143828
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

The control of the hopping height in a one-legged machine is studied. The general aim is to decrease sensitivity of the hopping height to drifts in the machine's parameters. The proposed approach combines a near-inverse controller which uses height feedback, with a recursive least-squares parameter estimator which continually tunes the controller. The paper presents the mechanical design of the hopping leg, as well as simulations of its performance in tracking a piecewise-constant height reference. These simulations suggest that the resulting algorithm is both computationally feasible and robust to disturbances and drifts.

Citation Download Citation

Joseph Prosser and Moshe Kam "Control of hopping height for a one-legged hopping machine", Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); https://doi.org/10.1117/12.143828

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