Share Email Print
cover

Proceedings Paper

Control of hopping height for a one-legged hopping machine
Author(s): Joseph Prosser; Moshe Kam
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

The control of the hopping height in a one-legged machine is studied. The general aim is to decrease sensitivity of the hopping height to drifts in the machine's parameters. The proposed approach combines a near-inverse controller which uses height feedback, with a recursive least-squares parameter estimator which continually tunes the controller. The paper presents the mechanical design of the hopping leg, as well as simulations of its performance in tracking a piecewise-constant height reference. These simulations suggest that the resulting algorithm is both computationally feasible and robust to disturbances and drifts.

Paper Details

Date Published: 4 May 1993
PDF: 9 pages
Proc. SPIE 1831, Mobile Robots VII, (4 May 1993); doi: 10.1117/12.143828
Show Author Affiliations
Joseph Prosser, Drexel Univ. (United States)
Moshe Kam, Drexel Univ. (United States)


Published in SPIE Proceedings Vol. 1831:
Mobile Robots VII
William J. Wolfe; Wendell H. Chun, Editor(s)

© SPIE. Terms of Use
Back to Top