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Control of the hop height of a one-legged resonance robot

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Abstract

Vertical 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.

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Authors and Affiliations

  1. Higher Polytechnic School, Department of Electronic Systems and Telecommunications, San Pablo University, Madrid, Spain

    R. Fernandes

  2. Higher Union of Scientific Investigations of Spain, Department of Automatic Control, Institute of Industrial Automatics, Madrid, Spain

    T. Akinfiev & A. Armada

Authors
  1. R. Fernandes
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  2. T. Akinfiev
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  3. A. Armada
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Additional information

Original Russian Text © R. Fernandes, T. Akinfiev, A. Armada, 2009, published in Avtomatika i Telemekhanika, 2009, No. 1, pp. 74–84.

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Fernandes, R., Akinfiev, T. & Armada, A. Control of the hop height of a one-legged resonance robot. Autom Remote Control 70, 64–73 (2009). https://doi.org/10.1134/S0005117909010056

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  • DOI: https://doi.org/10.1134/S0005117909010056

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