Conference proceeding
Generalizing the hop: object-level programming for legged motion
Proceedings 1992 IEEE International Conference on Robotics and Automation, Vol.1, pp.136-142
1992
DOI: 10.1109/ROBOT.1992.220322
Abstract
A model-independent method for controlling a hopping robot is presented. The approach focuses on the interaction between the hopper and its surroundings at points of contact. It is only through reactions at contact points that a hopper can alter its momenta. A generalization of the virtual leg abstraction allows control programs to be expressed as constraints on the external forces and torques acting on the hopper. The relationship between the nature of the external contacts and motion control strategies is investigated. The approach was tested in simulation using the model-driven dynamic simulator Newton. The experiments demonstrate the utility of simulation for studying physical control problems. Through simulation, a broad range of design parameters can be easily tested to determine the limits of the control strategy.< >
Details
- Title: Subtitle
- Generalizing the hop: object-level programming for legged motion
- Creators
- J.K Kearney - University of Iowa, Computer ScienceS Hansen - Dept. of Comput. Sci., Iowa Univ., Iowa City, IA, USA
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings 1992 IEEE International Conference on Robotics and Automation, Vol.1, pp.136-142
- DOI
- 10.1109/ROBOT.1992.220322
- Publisher
- IEEE Comput. Soc. Press
- Language
- English
- Date published
- 1992
- Academic Unit
- Nursing; Injury Prevention Research Center; Computer Science
- Record Identifier
- 9984265158502771
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