contributor author | M. H. Raibert | |
contributor author | H. B. Brown | |
date accessioned | 2017-05-08T23:17:28Z | |
date available | 2017-05-08T23:17:28Z | |
date copyright | March, 1984 | |
date issued | 1984 | |
identifier issn | 0022-0434 | |
identifier other | JDSMAA-26080#75_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/98245 | |
description abstract | The ability to balance is important to the mobility obtained by legged creatures found in nature, and may someday lead to versatile legged vehicles. In order to study the role of balance in legged locomotion and to develop appropriate control strategies, a 2D hopping machine was constructed for experimentation. The machine has one leg on which it hops and runs, making balance a prime consideration. Control of the machine’s locomotion was decomposed into three separate parts: a vertical height control part, a horizontal velocity part, and an angular attitude control part. Experiments showed that the three part control scheme, while very simple to implement, was powerful enough to permit the machine to hop in place, to run at a desired rate, to translate from place to place, and to leap over obstacles. Results from modeling and computer simulation of a similar one-legged device are described by Raibert [10]. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Experiments in Balance With a 2D One-Legged Hopping Machine | |
type | Journal Paper | |
journal volume | 106 | |
journal issue | 1 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.3149668 | |
journal fristpage | 75 | |
journal lastpage | 81 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;1984:;volume( 106 ):;issue: 001 | |
contenttype | Fulltext | |