| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 4948648 | Robotics and Autonomous Systems | 2017 | 17 Pages |
Abstract
The controller is first derived for height control of hopping vertically, with no horizontal motion, from an analytical approximation. This is tested in simulation, using a spring-damper model and a more detailed model with a foot mass and compliant ground. The controller is then applied to a hydraulic spring-loaded hopper monoped. An extension allows the control of running on a treadmill, with constant horizontal speed.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Jawaad Bhatti, Matthew Hale, Pejman Iravani, Andrew Plummer, Necip Sahinkaya,