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Vertical control for an one-legged h...

Case Western Reserve University.

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Vertical control for an one-legged hopping robot.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Vertical control for an one-legged hopping robot./
Author:	Li, Lijun.
Description:	53 p.
Notes:	Adviser: Wei Lin.
Contained By:	Masters Abstracts International46-02.
Subject:	Engineering, Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1448846
ISBN:	9780549265771

Vertical control for an one-legged hopping robot.
Li, Lijun.

Vertical control for an one-legged hopping robot. - 53 p.

Adviser: Wei Lin.

Thesis (M.S.)--Case Western Reserve University, 2007.

Four control algorithms that regulate the one-legged robot's hopping height are presented and simulation results are shown. They are energy based control (EBC), near inverse method (NIM), linear quadratic regulator (LQR) and PD control.

ISBN: 9780549265771Subjects--Topical Terms:

1018454
Engineering, Robotics.

Vertical control for an one-legged hopping robot.
LDR:01745nam 2200301 a 45 001 852765
005 20100630
008 100630s2007 ||||||||||||||||| ||eng d
020 $a 9780549265771
035 $a (UMI)AAI1448846
035 $a AAI1448846
040 $a UMI $c UMI
100 1 $a Li, Lijun. $3 1018782
245 1 0 $a Vertical control for an one-legged hopping robot.
300 $a 53 p.
500 $a Adviser: Wei Lin.
500 $a Source: Masters Abstracts International, Volume: 46-02, page: 1130.
502 $a Thesis (M.S.)--Case Western Reserve University, 2007.
520 $a Four control algorithms that regulate the one-legged robot's hopping height are presented and simulation results are shown. They are energy based control (EBC), near inverse method (NIM), linear quadratic regulator (LQR) and PD control.
520 $a The vertical hopping control for an one-legged hopping robot is an essential problem in the study of balanced legged machines that walk and run. The field of dynamically stable legged locomotion has made great strides in 1980s, led primarily by Marc Raibert. The study of one-legged hopping problem has fascinated many scholars and researchers since then.
520 $a Following a review of the literature, a generic one-legged robot model is developed. Two models are presented one is the full model and the other one is only for the vertical hopping. The two phases and four events in a hopping cycle is defined. Control can only be applied during the stance period.
590 $a School code: 0042.
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Engineering, System Science. $3 1018128
690 $a 0771
690 $a 0790
710 2 $a Case Western Reserve University. $3 1017714
773 0 $t Masters Abstracts International $g 46-02.
790 $a 0042
790 1 0 $a Lin, Wei, $e advisor
791 $a M.S.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1448846