GAIT PLANNING FOR ONE-LEGGED ARTICULATED HOPPING ROBOT
Journal Title: Applied Computer Letters (ACL) - Year 2017, Vol 1, Issue 2
Abstract
A gait planning procedure for planar one-legged articulated hopping robot is proposed in this paper. Its major advantage is the capability to design the take-off velocities of the mass center of the robot in X and Z axes, which is of quite importance for the schedule of hopping height and distance. To this end, a simplified robot model with a concentrated mass and a virtual telescopic leg connecting the hip and the toe of the robot is given first. With the application of cubic spline interpolation, the gaits of the robot on the ground and in the air are then both obtained from the inverse kinematics of the simplified robot model. Finally, the planned gaits of the robot are verified by the animation of a Matlab SimMechanics model of the hopping robot.
Authors and Affiliations
Mengjia Shi
Keywords
Related Articles
- EP ID EP403944
- DOI 10.26480/acl.02.2017.06.08
- Views 53
- Downloads 0
DYNAMIC RELIABILITY OF TORPEDO STRUCTURE UNDER THE ARBITRARY RANDOM EXCITATION
Aimed at the correlation between the impact loads and planing forces of the tail on supercavitating torpedo structure, the pseudo excitation had been constructed about every eigenpair of power spectral density matrix. By...
WAVELET THRESHOLD TRANSFORM AND EMPIRICAL MODE DECOMPOSITION JOINT DENOISING OF SIGNAL
Wavelet transforms and empirical mode decomposition are powerful tools for processing non-stationary and nonlinear signals, suitable for de-noising nuclear magnetic resonance logging echo signal. This paper introduces th...
THE APPLICATION OF UNILATERAL SINGLE VALUE CONTROL CHART BASED ON LOGNORMAL DISTRIBUTION
The risk theory tells us that the short-term high risks exist at the right tail of the distribution. So we advocate the design and parameter estimation method, which the special figures that reflect short-term risks are...
RESEARCH ON NOISYS AND NOISY REDUCTION STRATEGY IN IEC ALGORITHM
The noises in the individual fitness evaluation will be unfavorable to the population evolution in IEC (interactive evolutionary computation), so it restricts extensive application of the algorithm in complicated optimiz...
RESEARCH ON APPLICATION OF DATA MINING BASED ON BAYESIAN NETWORK
This paper is committed to applied research in Bayesian networks in data mining, for there is not a complete Bayesian networks in data mining algorithms, propose a heuristic in data mining to construct Bayesian network u...