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Control of the Hop Height of a One-Legged Resonance Robot

AuthorsFernández Saavedra, Roemi E. ; Akinfiev, Teodor ; Armada, Manuel
Issue Date2009
PublisherMAIK Nauka/Interperiodica Publishing
CitationAutomation and Remote Control 70(1): 64-73 (2009)
AbstractVertical motions of a resonance leg specially developed for running and hopping robots are considered. The nonstandard drive used that has dual properties and a variable transfer ratio makes it possible to reduce significantly energy expenses. The solution to the problem of control of the hop height for this leg includes the analysis of a physical model and the analytical solutions for the control optimal in time and optimal in energy. The data of experimental investigations are pointed up, which confirm the efficiency of suggested controllers and show the effectiveness of the developed resonance leg. Original Russian Text © R. Fernandes, T. Akinfiev, A. Armada, 2009, published in Avtomatika i Telemekhanika, 2009, No. 1, pp. 74–84.
Publisher version (URL)http://dx.doi.org/10.1134/S0005117909010056
Identifiersissn: 0005-1179
Appears in Collections:(IAI) Artículos
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