A note on a model hopping machine

International Applied Mechanics

Volumn 38, Issue 10, 2002, Pages 1272-1279

  Larin, V B ^a   Matiyasevich, V M ^a  

^a S P TIMOSHENKO INSTITUTE OF MECHANICS   (Ukraine)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; LINEAR CONTROL SYSTEMS; OPTIMIZATION;

HOPPING MACHINES;

MECHANICS;

EID: 0036990630     PISSN: 10637095     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1022270715560     Document Type: Article

References (23)

1. I. I. Artobolevskii and N. V. Umnov, "Some problems of walking machines," Vestn. AN SSSR, No. 2, 44-51 (1962).
2. V. V. Beletskii, Biped Walking [in Russian], Nauka, Moscow (1984).
3. B. E. Berbyuk, Dynamics and Optimization of Robot Systems [in Russian], Naukova Dumka, Kiev (1989).
4. B. A. Bordyug, V. B. Larin, and A. G. Timoshenko, Control Problems for Legged Machines [in Russian], Naukova Dumka, Kiev (1985).
5. M. K. Vukobratovio, Walking Robots and Anthropomorphic Mechanisms [Russian translation], Mir, Moscow (1976).
6. V. I. Klyuchev, Electric Drive Theory [in Russian], Energoatomizdat, Moscow (1985).
7. V. V. Lapshin, "Dynamics and control of a hopping machine," Izv. AN SSSR, Mekh. Tverd. Tela, No. 5, 34-42 (1984).
8. V. B. Larin, "Optimization of periodic systems," Dokl. AN SSSR, 239, No. 1, 67-70 (1978).
9. V. B. Larin, "Control of a hopping machine 1. Selection of a program trajectory," Izv. AN SSSR, Mekh. Tverd. Tela, No. 6, 27-32 (1979).
10. V.B. Larin, "Control of a hopping machine 2. Stabilization of program motion," Izv. AN SSSR, Mekh. Tverd. Fete, No. 1, 32-40 (1980).
11. V.B. Larin, Control of Legged Machines [in Russian], Naukova Dumka, Kiev (1980).
12. V. B. Larin, "Optimization of periodic systems," Prikl. Mat. Mekh., 44, No. 6, 1019-1026 (1980).
13. V. B. Larin, "On synthesis of stabilizing controllers using linear matrix inequalities," Probl. Upravl. Avtom., No. 5, 39-45 (2000).
14. D. E. Okhotsimskii and Yu. F. Golubev, Mechanics and Control of Automatic Legged Machine [in Russian], Nauka, Moscow (1984).
15. A. M. Formal'skii, Movement of Anthropomorphic Mechanisms [in Russian], Nauka, Moscow (1982).
16. Gonzalez de Santos, M. A. Armada, J. Estremera, J. A. Galvez, E. Garcia, M. Prieto, and M. Uquillas, "SILO4: A four-legged test-bed for educational and research purposes," Clawar News, No. 4, 10-11 (2000).
17. V. B. Larin, "Method of periodic optimization in stabilization problems of biped apparatus," in: Lecture Notes in Control and Information Sciences, 23, Optimization Techniques, Part 2, Springer, Berlin (1980), pp. 593-599.
18. V. B. Larin, "Problem of control of a hopping apparatus," J. Franklin Inst., 335B, No. 3, 579-595 (1998).
19. V. B. Larin, "Control of statically unstable legged vehicles," Int. Appl. Mech., 36, No. 6, 729-754 (2000).
20. V. B. Larin, "Using linear matrix inequalities in synthesis of a stabilizing system for a hopping apparatus," Int. Appl. Mech., 37, No. 10, 1352-1358 (2001).
21. G. Pratt, "Legged robots at MIT - What's new since Raibert," Clawar News, No. 4, 4-7 (2000).
22. M. H. Raibert and I. E. Sutherland, "Machines that walk," Scientific American, 248, No. 1, 44-53 (1983).
23. M. H. Raibert, H. B. Brown, and M. Chepponis, "Experiments in balance with a 3D one-legged hopping machine," Int. J. Robotics Research, 3, No. 2, 75-92 (1984).