Control of a bow leg hopping robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 1998, Pages 793-798

  Zeglin, G ^a   Brown, B ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; FEEDBACK CONTROL; ROBOTICS; MATHEMATICAL MODELS;

FOOT PLACEMENTS; FUNCTION MAPPING; HOPPING ROBOTS; LOCOMOTION SYSTEM; NUMERICAL SOLUTION; PARTICULAR SOLUTION; PHYSICAL MODEL; TRAJECTORY PARAMETERS;

ROBOTS; MOBILE ROBOTS;

BOW LEG HOPPING ROBOT;

EID: 0031620671     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677082     Document Type: Conference Paper

References (11)

1. Ahmadi, M., Buehler, M. 1997. "Stable Control of a Simulated One-Legged Running Robot with Hip and Leg Compliance." IEEE Transactions on Robotics and Automation, Vol 13, No. 1.
2. Berkemeier, M.D., Desai, K.V. 1996. "Design of a robot leg with elastic energy storage, comparison to biology, and preliminary experimental results." Proceedings of IEEE International Conference on Robotics and Automation, 1996, Vol 1, pp. 213-18.
3. Brown, H.B., Zeglin, G.Z. "The Bow Leg Hopping Robot." IEEE International Conference on Robotics and Automation, 1998.
4. Gregorio, P., Ahmadi, M., Buehler, M. "Experiments with an Electrically Actuated Planar Hopping Robot." International Symposium on Experimental Robotics III, Kyoto, Japan, 1993.
5. Hodgins, J.K., Raibert, M.N. "Adjusting step length for rough terrain locomotion." IEEE Transactions on Robotics and Automation, Vol. 7, No. 3, pp. 289-98, June 1991.
6. Lebaudy, A., Prosser, J., Kam, M. 1993. "Control algorithms for a vertically-constrained one-legged hopping machine." Proceedings of 32nd IEEE Conference on Decision and Control, Vol 3, pp. 2688-93.
7. Matsuoka, K., 1980. "A mechanical model of repetitive hopping movements." Biomechanisms 5:251-258.
8. Papantoniou, K.V. "Electromechanical design for an electrically powered, actively balanced one leg planar robot." IEEE/RSJ International Workshop on Intelligent Robots and Systems 1991. Vol 3, pp. 1553-60.
9. Raibert, M.H. 1986. Legged Robots That Balance. MIT Press, Cambridge, MA.
10. Schwind, W.J., Koditschek, D.E. 1995. "Control of forward velocity for a simplified planar hopping robot." Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol. 1, pp. 691-6.
11. Schwind, W.J., Koditschek, D.E. 1997. "Characterization of Monoped Equilibrium Gaits." Proceedings of 1997 IEEE International Conference on Robotics and Automation.