This article is cited in 3 papers

Deterministic Systems

Control of the hop height of a one-legged resonance robot

R. Fernandes^a, T. Akinfiev^b, M. Armada<sup>b

a</sup> San Pablo University, Higher Polytechnic School, Department of Electronic Systems and Telecommunications, Madrid, Spain
^b Institute of Industrial Automatics, Higher Union of Scientific Investigations of Spain, Department of Automatic Control, Madrid, Spain

Abstract: Vertical motions of a resonance leg specially developed for running and hopping robots are considered. The nonstandard drive used that has dual properties and a variable transfer ratio makes it possible to reduce significantly energy expenses. The solution to the problem of control of the hop height for this leg includes the analysis of a physical model and the analytical solutions for the control optimal in time and optimal in energy. The data of experimental investigations are pointed up, which confirm the efficiency of suggested controllers and show the effectiveness of the developed resonance leg.

PACS: 02.30.Yy

Presented by the member of Editorial Board: L. B. Rapoport

Received: 08.02.2008

 English version: Automation and Remote Control, 2009, 70:1, 64–73

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