Low-energy control of a one-legged robot with 2 degrees of freedom

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2815-2821

  Dummer, R ^a   Berkemeier, M ^a  

^a UTAH STATE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

LOW BANDWIDTH SENSORY FEEDBACK; LOW ENERGY CONTROL; ONE LEGGED ROBOT; PASSIVE DYNAMICS; POINCARE RETURN MAP; ROBOT LEG; STEADY STATE HOPPING MOTION;

COMPUTER SIMULATION; CONSTRAINT THEORY; CONTROL SYSTEM ANALYSIS; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; FEEDBACK CONTROL; MOTION CONTROL; PERTURBATION TECHNIQUES;

MOBILE ROBOTS;

EID: 0033708549     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (3)

1. M. D. Berkemeier and K. V. Desai, "A Neural-Mechanical Approach to the Control of Hopping Height in Legged Robots," IEEE International Conference on Robotics and Automation, 1999.
2. M. H. Raibert, Legged Robots That Balance, MIT Press, 1986.
3. R.T. M'Closkey and J.W. Burdick, "Periodic Motions of a Hopping Robot with Vertical and Forward Motion," International Journal of Robotics Research, 12(3):197-218, June 1993.