Hopping Robot ProjectHopping Robot ProjectPrincipal Investigator: Gaurav S. Sukhatme

Graduate Students: Kale Harbick

Undergraduate Students: Michael Poole

Robot Design Height Control

Advantages

•On-board Power

•On-board Computation

•Self-contained

•Use of pneumatics allows changing of spring constants on the fly

Disadvantages

•Short run-time

•Pneumatics more difficult to control than motors

•Air tanks are not as convenient as batteries

gm

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Lm

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dL

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sin

sinsin

Lgmy

LmK

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yd

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gmy

LmK

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maxlo

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http://robotics.usc.edu/~kale/hopper.htmlkale@robotics.usc.edu

1d Model

2d Model

1. Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a one-dimensional model. Technical Report IRIS-01-405, Institute for Robotics and Intelligent Systems, University of Southern California, 2001.

2. Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a two-dimensional model. Technical Report IRIS-01-406, Institute for Robotics and Intelligent Systems, University of Southern California, 2001.

3. Kale Harbick and Gaurav S. Sukhatme. Controlling hopping height of a pneumatic monopod. Submitted for review to ICRA 2002.

GUI screenshot

Robotic Embedded Systems Lab