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Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Published online by Cambridge University Press:  13 January 2021

Amin Khakpour Komarsofla,
Ehsan Azadi YazdiOpen the ORCID record for Ehsan Azadi Yazdi[Opens in a new window] and
Mohammad Eghtesad
Amin Khakpour Komarsofla
Affiliation:
School of Mechanical Engineering, Shiraz University, Shiraz, Iran, E-mails: amin.khakpour93@yahoo.com, eghtesad@shirazu.ac.ir
Ehsan Azadi Yazdi*
Affiliation:
School of Mechanical Engineering, Shiraz University, Shiraz, Iran, E-mails: amin.khakpour93@yahoo.com, eghtesad@shirazu.ac.ir
Mohammad Eghtesad
Affiliation:
School of Mechanical Engineering, Shiraz University, Shiraz, Iran, E-mails: amin.khakpour93@yahoo.com, eghtesad@shirazu.ac.ir
*
*Corresponding author. E-mail: ehsanazadi@shirazu.ac.ir
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Summary

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In this article, a novel mechanism for planar one-legged hopping robots is proposed. The robot consists of a flat foot which is pinned to the leg and a reciprocating mass which is connected to the leg via a prismatic joint. The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot are derived using the Euler–Lagrange equations. To accomplish a stable jump, appropriate trajectories have been planned. To guarantee a stable response for this nonlinear system, a sliding-mode controller is implemented. The performance of the hopping robot is investigated through numerical simulations. The results confirm the stability of the hopping robot through the jump cycle on a flat surface and in climbing up and down ramp and stairs.

Keywords

Planar one-legged robotTrajectory trackingHoppingUnder-actuatedSliding mode controller

Information

Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021, pp. 1692 - 1710
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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