roboticsc/~kale/hopper.html kale@roboticsc
DESCRIPTION
http://robotics.usc.edu/~kale/hopper.html [email protected]. Robotic Embedded Systems Lab. 1d Model. 2d Model. GUI screenshot. - PowerPoint PPT PresentationTRANSCRIPT
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
y
Lm
Ky
yd
dL
s
k
s
s
2
2
sin
sinsin
Lgmy
LmK
L
yd
d
gmy
LmK
y
yd
dL
s
k
s
s
maxlo
s
k
s
s
http://robotics.usc.edu/~kale/[email protected]
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