Report
Generalizing the Hop: Object-Level Programming for Legged Motion
University of Iowa Technical Report, UI-CS 90-09, University of Iowa, Department of Computer Science
08/1990
Abstract
This paper presents a model-independent method for controlling a hopping robot. The approach focuses on the interaction between the hopper and its surrounding 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 external contacts and motion control strategies is investigated. The results of simulations for a variety of hoppers are presented.
Details
- Title: Subtitle
- Generalizing the Hop: Object-Level Programming for Legged Motion
- Creators
- J K KearneyS Hansen
- Resource Type
- Report
- Series
- University of Iowa Technical Report; UI-CS 90-09
- Publisher
- University of Iowa, Department of Computer Science; Iowa City, Iowa, USA
- Number of pages
- 32 pages
- Language
- English
- Date published
- 08/1990
- Academic Unit
- Nursing; Injury Prevention Research Center; Computer Science
- Record Identifier
- 9984259420802771
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