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Proceedings Paper

Control of hopping height for a one-legged hopping machine
Author(s): Joseph Prosser; Moshe Kam
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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)

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