Stance Phase Control System of a Jumping Robot

The paper treats the control of the jumping robot during the stance phase using the fractal model of the system. Considering an actuation system based on the Electro-Rheologic (ER) fluid controller, a fractal model is inferred. The linearized model and nonlinear models are studied and control frequential laws are proposed using YKP criterions. Observer models are proposed for linear and nonlinear systems and the global stability for “system-observer” is studied by Lyapunov techniques. Numerical simulations are presented.