Towards Running Robots for Discontinuous Terrain

(Extended Abstract)
  • Jawaad Bhatti
  • Pejman Iravani
  • Andrew R. Plummer
  • M. Necip Sahinkaya
Conference paper

DOI: 10.1007/978-3-642-32527-4_59

Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)
Cite this paper as:
Bhatti J., Iravani P., Plummer A.R., Sahinkaya M.N. (2012) Towards Running Robots for Discontinuous Terrain. In: Herrmann G. et al. (eds) Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science, vol 7429. Springer, Berlin, Heidelberg

Abstract

Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jawaad Bhatti
    • 1
  • Pejman Iravani
    • 1
  • Andrew R. Plummer
    • 1
  • M. Necip Sahinkaya
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of BathBathUK

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