IEEE - Institute of Electrical and Electronics Engineers, Inc. - Instantaneous control of a vertically hopping leg's total step-time

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Jawaad Bhatti ; Pejman Iravani ; Andrew Plummer ; M. Necip Sahinkaya
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 1 - 6
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630548
Regular:

The main contribution of this paper is a new step-time controller for a vertically hopping robot leg capable of meeting a demanded step-time instantaneously, meaning within a single hop. The... View More

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