期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2017
卷号：6
期号：7
页码：14161
DOI：10.15680/IJIRSET.2017.0607210
出版社：S&S Publications
摘要：In this paper we explore the mechanism of energy transfer between the single actuated DOF of aone-legged hopping robot and the remaining unactuated DOFs, during stable running. The concept of the energytransfer mechanism is laid out, after which follows an analytical study. Using this study, an initial controller is derivedfor the control of a simple SLIP model with friction in the leg and hip, using a single actuator at the hip. We show thatwhile this controller is capable of stable motion for the SLIP model, it does not lead to stable locomotion for the fullrealistic robot model with pitching body, leg inertia and friction in hip and leg. This indicates that the SLIP model oftenused for controller design may be unsuitable for this purpose. The necessary modifications are then made to thecontroller to achieve stable locomotion for the full model, again with a single, easy-to-implement actuator located at thehip. Finally, results are shown from applying the controller to the full model for a wide range of parameters leading tostable motions.
关键词：control; one-legged hopping robot; under actuated.
