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.