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Hopping peak height algorithm for a one legged robot hopping height control

Azahar, Arman Hadi and Chong, Shin Horng and Mohamed Kassim, Anuar (2015) Hopping peak height algorithm for a one legged robot hopping height control. In: Mechanical Engineering Research Day 2015, 31 March 2015, Melaka.

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Abstract

This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore, hopping peak height algorithm is designed and embedded into the closed loop control system feedback to determine the hopping peak of each produced hopping as a feedback. The existence of the hopping peak height algorithm assists the PI-CPG controller to converge the hopping height error approximately to zero.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: one legged hopping robot, hopping height control, hopping peak height algorithm
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Control, Instrumentation & Automation
Depositing User: Dr Shin Horng Chong
Date Deposited: 28 Sep 2015 00:34
Last Modified: 28 Sep 2015 00:34
URI: http://eprints.utem.edu.my/id/eprint/14914

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