Modeling and Control of a Single-legged Robot

摘要

This paper deals with a planer single-legged robot that is capable of hopping. The model of the robot is constructed as an inverted pendulum with an additional flywheel. The phases of each hopping cycle are anglicized and are treated with different control scheme. By adopting the three part control scheme that proposed by Raibert, we improve the speed control part by solving the equations of motion of the model introduced before which provides a better way to specify control parameters which are not addressed by Raibert. Simulation results of rate regulation show that the control scheme is able to regulate the rate of single-legged Robot at a desired speed with high stability thus show the control is valid and feasible for realizing rate regulation.