A Control Algorithm for a 3D Hopping Machine

The paper addresses several control problems for a three-dimensional hopping machine. The machine consists of a ponderable torso and an imponderable leg. The leg is a kinematic chain with joints allowing rotation and translation. The leg is attached at the torso's center of mass. The force in t...

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Bibliographic Details
Published inInternational applied mechanics Vol. 40; no. 4; pp. 462 - 470
Main Authors Larin, V. B., Matiyasevich, V. M.
Format Journal Article
LanguageEnglish
Published 01.04.2004
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Summary:The paper addresses several control problems for a three-dimensional hopping machine. The machine consists of a ponderable torso and an imponderable leg. The leg is a kinematic chain with joints allowing rotation and translation. The leg is attached at the torso's center of mass. The force in the leg is developed by a linear spring. A control system is synthesized within the framework of a periodic linear quadratic problem. The efficiency of the controller is exemplified by a case where the hopper changes the direction of its motion
Bibliography:ObjectType-Article-2
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ISSN:1063-7095
DOI:10.1023/B:INAM.0000034470.42682.50