|

Orientation Control of Hopping Robot in Flight Phase of Motion with Zero Angular Momentum

Authors: Lapshin V.V., Chashnikov S.P. Published: 28.08.2013
Published in issue: #1(40)/2011  
DOI:

 
Category: Mechanics  
Keywords: hopping robot, flight phase, motion control

The planar motion of a legged hopping robot with one telescopic leg is investigated. A mathematical model of the robot's motion around the center-of-mass in the flight phase is constructed. The problem of motion control of the robot with zero angular momentum is solved. Results of mathematical simulation are given.