IEEE - Institute of Electrical and Electronics Engineers, Inc. - Energy preserving control of a hopping robot based on hybrid port-controlled Hamiltonian modeling

Conference on Control Applications

Author(s): M. Ishikawa ; A. Neki ; J.-I. Imura ; S. Hara
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2003
Conference Location: Istanbul, Turkey, Turkey
Conference Date: 25 June 2003
Volume: 2
Page Count: 6
ISBN (Paper): 0-7803-7729-X
DOI: 10.1109/CCA.2003.1223170
Regular:

In this paper, we propose an energy-based approach to feedback control problem for a hopping robot on an elastic ground. In order that the system behaves in a periodic hopping motion, we make an... View More

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