Hopping system control with an approximated dynamics model and upper-body motion View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2015-11

AUTHORS

Hyangjun Lee, Junho Oh

ABSTRACT

A hopping system is highly non-linear due to the nature of its dynamics, which has alternating phases in a cycle, flight and stance phases and related transitions. Every control method that stabilizes the hopping system satisfies the Poincaré stability condition. At the Poincaré section, a hopping system cycle is considered as discrete sectional data set. By controlling the sectional data in a discrete control form, we can generate a stable hopping cycle. We utilize phase-mapping matrices to build a Poincaré return map by approximating the dynamics of the hopping system with SLIP model. We can generate various Poincaré stable gait patterns with the approximated discrete control form which uses upper-body motions as inputs. More... »

PAGES

4891-4900

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s12206-015-1037-6

DOI

http://dx.doi.org/10.1007/s12206-015-1037-6

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1032733824


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