IEEE - Institute of Electrical and Electronics Engineers, Inc. - Towards precise control of hoppers: Using high order partial feedback linearization to control the hopping robot FRANK

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Pat Terry ; Giulia Piovan ; Katie Byl
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 6,669 - 6,675
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7799296
Regular:

In this paper, we describe modeling and control techniques for series-elastic actuated hopping robots. There is an abundance of work regarding the implementation of highly simplified hopper... View More

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