Abstract
In order to control the vertical hopping height of two degree-of-freedom articulated single-legged hopping robot , a hopping height control scheme based on the energy conservation in the course of hopping was proposed. The kinematic model of the legged hopping robot and the hybrid dynamic model on flight and stance phase according to the different constraint condition was established, and the ground contact model based on the impact collisions between end-effector and ground was analyzed. On the one hand when robot was controlled to hop higher, energy was imparted into the robot system by increasing the pre-compressed length of the virtual spring. On the other hand, when robot was controlled to hop lower, the redundant energy of the robot system was dissipated by the inelastic collisions when the end-effector touched down the ground. The control scheme is demonstrated by the simulation experiment of hopping height control implemented in MATLAB/Simulink. The robot’s hopping height increases from 0.55 to 0.8 m and then decreases from 0.8 to 0.55 m with 0.05 m intervals. The phase plot shows that the dynamic hopping with different height approaches respective periodic and stable orbit. And the time domain hopping plot shows that the control scheme has fast dynamic response and nearly no steady-state error. The experiment result shows great efficiency of the control scheme proposed here.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Azahar AH, Horng CS, Kassim AM (2013) Vertical motion control of a one legged hopping robot by using central pattern generator (CPG). In: IEEE symposium on industrial electronics and applications, pp 7–12. doi:10.1109/ISIEA.2013.6738958
Bhatti J, Plummer AR, Sahinkaya MN, Iravan P (2012) Fast and adaptive hopping height control of single-legged robot. In: 11th Biennial conference on engineering systems design and analysis, pp 303–309. doi:10.1115/ESDA2012-82564
Bhatti J, Iravani P, Plummer A, Sahinkaya MN (2013) Instantaneous control of a vertically hopping leg’s total step-time. In: IEEE international conference on robotics and automation, pp 1–6. doi:10.1109/ICRA.2013.66305.48
Bosworth W, Kim S, Hogan N (2014) The effect of leg impedance on stability and efficiency in quadrupedal trotting. In: 2014 IEEE/RSJ international conference on intelligent robots and systems, pp 4895–4900. doi:10.1109/IROS.2014.6943258
Cherouvim N, Evangelos P (2009) Control of hopping speed and height over unknown rough terrain using a single actuator. In: IEEE international conference on robotics and automation, pp 2743–2748. doi:10.1109/sROBOT.2009.5152232
Council G, Yang S, Revzen S (2014) Deadbeat control with (almost) no sensing in a hybrid model of legged locomotion. In: International conference on advanced mechatronic systems, Kumamoto, pp 475–480. doi:10.1109/ICAMechS.2014.6911592
Cunha TB (2013) Hydraulic compliance control of the quadruped robot HyQ. Italy, University of Genoa. PhD thesis, University of Genoa, Italy
Hodgins JK, Raibert MH (1991) Adjusting step length for rough terrain locomotion. IEEE Trans Robot Autom 7(3):289–298. doi:10.1109/70.88138
Holmes P, Full RJ, Koditschek D, Guckenheimer J (2006) The dynamics of legged locomotion: models, analyses, and challenges. SIAM Rev 48(2):207–304. doi:10.1137/S0036144504445133
Hutter M (2013) StarlETH & Co.—design and control of legged robots with compliant actuation. Switzerland, ETH Zurich. PhD thesis, ETH Zurich, Switzerland
Hutter M, Remy CD, Höpflinger MA, Siegwart R (2010) SLIP running with an articulated robotic leg. In: IEEE/RSJ international conference on intelligent robots and systems, pp 4934–4939. doi:10.1109/IROS.2010.5651461
Hutter M, Remy CD, Hoepflinger MA, Siegwart R (2011). ScarlETH: design and control of a planar running robot. In: IEEE/RSJ international conference on intelligent robots and systems, pp 562–567. doi:10.1109/IROS.2011.6094504
Koditschek DE, Full RJ, Buehler M (2004) Mechanical aspects of legged locomotion control. Arthropod Struct Dev 33(3):251–272. doi:10.1016/j.asd.06.003
Mathis FB, Mukherjee R (2013) Apex height control of a two-mass hopping robot. In: IEEE international conference on robotics and automation, pp 4770–4775. doi:10.1109/ICRA.2013.6631259
Naik KG, Naik KG, Mehrandezh M, Mehrandezh M (2005) Control of a one-legged hopping robot using an inverse dynamic-based PID controller. In: IEEE CCECE/CCGEI, pp 770–773. doi:10.1109/CCECE.2005.15570.42
Peng X, Bin G, Kunxiu D, Shenghai H (2012) Establishment and experimental study of the floating basis dynamics model of a hopping robot. Appl Sci Technol 39(4):31–36. doi:10.3969/j.issn.1009-671X.2012.04.007
Pratt J, Chew C, Torres A, Dilworth P, Pratt G (2001) Virtual model control: an intuitive approach for bipedal locomotion. Int J Robot Res 20(2):129–143. doi:10.1177/02783640122067309
Prosser J, Moshe K (1993) Control of hopping height for a one-legged hopping machine. In: 32nd conference on decision and control, pp 2688–2693. doi:10.1117/12.14382.8
Raibert MH (1986) Legged robots that balance. The MIT Press, London, pp 16–18
Yu H, Li M, Guo W, Cai H (2012) Stance control of the SLIP hopper with adjustable stiffness of leg spring. In: IEEE international conference on mechatronics and automation, pp 2007–2012. doi:10.1109/ICM.A.2012.6285130
Zheng Y, Hemami H (1985) Mathematical modeling of a robot collision with its environment. J Robot Syst 2(3):289–307. doi:10.1002/rob.4620020307
Acknowledgments
Project supported by Science Fund for Creative Research Groups of National Natural Science Foundation of China (No. 51521064), National Natural Science Foundation of China (N0. 41506116), and Zhejiang Provincial Natural Science Foundation of China (No: LY13E050001).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Zhejiang University Press and Springer Science+Business Media Singapore
About this paper
Cite this paper
Chen, Zw., Jin, B., Zhu, Sq., Pang, Yt., Chen, G. (2017). Dynamic Hopping Height Control of Single-Legged Hopping Robot. In: Yang, C., Virk, G., Yang, H. (eds) Wearable Sensors and Robots. Lecture Notes in Electrical Engineering, vol 399. Springer, Singapore. https://doi.org/10.1007/978-981-10-2404-7_29
Download citation
DOI: https://doi.org/10.1007/978-981-10-2404-7_29
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-2403-0
Online ISBN: 978-981-10-2404-7
eBook Packages: EngineeringEngineering (R0)