Controllable Height Hopping of a Parallel Legged Robot
Source abstract
Abstract
Legged robots imitating animals have become versatile and applicable in more application scenarios recent years. Most of their functions rely on powerful athletic abilities, which require the robots to have remarkable actuator capacities and controllable dynamic performance. In most experimental demonstrations, continuous hopping at a desired height is a basic required motion for legged robots to verify their athletic ability. However, recent legged robots have limited ability in balance of high torque output and actuator transparency and appropriate structure size at the same time. Therefore, in our research, we developed a parallel robot leg using a brushless direct current motor combined with a harmonic driver, without extra force or torque sensor feedback, which uses virtual model control (VMC) to realize active compliance on the leg, and a whole-leg control system with dynamics modeling and parameter optimization for continuous vertical hopping at a desired height. In our experiments, the robot was able to maintain stability during vertical hopping while following a variable reference height in various ground situations.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Locomotion and Control · Prosthetics and Rehabilitation Robotics · Viral Infectious Diseases and Gene Expression in Insects
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
Gradute School of Information Science and Technology, The University of Tokyo, Tokyo 113-8657, Japan
The Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
Department of Mechanical Engineering and Intelligent Systems, The University of Electro Communications, Tokyo 182-8585, Japan
Funding
National Key Research Program of China · National Natural Science Foundation of China
References (28)
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