Effectiveness of Reference Height Control system for Tripod Hopping Robot

Anuar , Mohamed Kassim and Mohammad Fahmi , Miskon and Nurul Hafizah, Abd Rahim and Takashi , Yasuno (2011) Effectiveness of Reference Height Control system for Tripod Hopping Robot. In: 2011 4th International Conference on Mechatronics (ICOM),, 17-19 May 2011, Kuala Lumpur, Malaysia.

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In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller system in the system of Central Pattern Generator (CPG). By using the approached method, tripod hopping robot can maintain the hopping motion and control the jumping height to achieve the reference height. As the result, we evaluate the effectiveness of CPG networks to keep the stability of tripod hopping robot besides of confirm the validity of using reference height control system to generate moving capability at different reference height.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Tripod hopping robot, Reference height control system
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User: Mr Anuar Mohamed Kassim
Date Deposited: 20 Jul 2012 08:49
Last Modified: 28 May 2015 03:25
URI: http://eprints.utem.edu.my/id/eprint/4518
Statistic Details: View Download Statistic

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