Hopping Height Control of Hopping Robot by Periodic Input Control

摘要

In this paper, we deal with hopping height control problem for a hopping robot by periodic input control. In our previous research, we proposed periodic input control which can control the energy of a system by modulating the amplitude or phase of periodic input, and controlled periodic motion of various systems (such as pendulum or quasi passive walking robot). But periodic motions of these systems which we dealt were sinusoidal, and their motion cycles were almost constant. In this research, we apply periodic input control to a hopping robot whose motion is nonsinusoidal and motion cycle changes significantly depending on hopping height. First, we analyze the timing in which energy of a robot is efficiently excited by periodic input. Next, we design energy control law for hopping height control based on periodic input control. Finally, we show efficiency of our method in experiments.