文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 33–49
ate/mechmt
Modeling, motion planning, and control of one-legged
hopping robot actuated by two arms
Guang-Ping He a,*, Xiao-Lan Tan a, Xiang-Hui Zhang a, Zhen Lu b
a School of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100041, China
b School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
Received 22 May 2006; received in revised form 12 January 2007; accepted 16 January 2007
Available online 23 March 2007
Abstract
A new underactuated one-legged hoping robot model is proposed for researching the utilization of the elastic energy of
underactuated flexible mechanical system repeatedly, and researching the motion control method for underactuated hop-
ping robots with dynamic balance. Only two arms actuate the hopping robot, the single elastic leg of the robot has no
actuator, thus the coupling between the arms and the unactuated leg controls the hopping motion. The modeling, motion
planning, and control method are investigated for this kind of hopping robot. A new time-varying feedback control algo-
rithm is suggested based on the nonlinear transformation of inputs locally. It is shown that controlling the orientation and
vibration of the leg would be essential for hoping stably, and controlling the motion of center of mass of the system can
control the moving speed in horizontal direction. Some numerical simulations verified some aspects of the feasibility of the
proposed model and control method.
Ó 2007 Elsevier Ltd. All rights reserved.
Keywords: Hopping robot; Underactuated; Nonholonomic; Dynamic control
1. Introduction
Hopping robot has better mobility in a natural environment for the motion style, with intermittent stance
and flight. It can move with great speed and maneuverability even on rough terrain. A great capability