IEEE - Institute of Electrical and Electronics Engineers, Inc. - Control of hopping speed and height over unknown rough terrain using a single actuator

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Cherouvim, Nicholas ; Papadopoulos, Evangelos
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 2,743 - 2,748
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152232
Regular:

We present a method for controlling the forward speed and the apex height of a one-legged hopping robot over rough terrain, using a single actuator located at the robot hip. The control algorithm... View More

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