Controlling hopping height of a pneumatic monopod
Controlling hopping height of a pneumatic monopod
复制标题
控制气动独脚架的跳跃高度
DOI：
10.1109/robot.2002.1014359
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
G. Sukhatme
中科院分区：
文献类型：
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作者：
K. Harbick;G. Sukhatme
我们描述了一种基于模型的高度控制器，用于气动腿跳跃机器人。控制器显式模拟腿部角度和高度的变化。利用气动弹簧的物理模型和一些对称性假设，我们推导出了使用PD控制器调节顶点跳跃高度所需的腿长设置。在矢状面内跳跃的模拟实验表明，高度调节合理。对于低速跑步，我们利用腿部角度相对于垂直方向的微小变化，证明了通过将腿部角度限制在/SPL pi//2，可以放松原始的对称性假设。模拟表明，受限制的模型比原始模型的性能要好一些，但幅度很大。
We describe a model-based height controller for a hopping robot with a pneumatically powered leg. The controller explicitly models variation in the leg angle and height. Using an explicit model of the physics of the pneumatic spring and some symmetry assumptions, we derive the desired leg-length setting to regulate apex hopping height using a PD controller. Simulation experiments of hopping in the sagittal plane show reasonable height regulation. For low-speed running, we take advantage of the small variations in the leg angle about the vertical, and demonstrate that the original symmetry assumptions may be relaxed by restricting the leg angle to /spl pi//2. Simulations show that the restricted model outperforms the original model by a small but significant amount.