Jumping motion control for 4-link robot based on virtual constraint on underactuated joint | IEEE Conference Publication | IEEE Xplore

Jumping motion control for 4-link robot based on virtual constraint on underactuated joint


Abstract:

This paper proposes a control strategy for an underactuated planar robot to achieve jumping motion by toe kicking. The model in this work consists of 4 links and is contr...Show More

Abstract:

This paper proposes a control strategy for an underactuated planar robot to achieve jumping motion by toe kicking. The model in this work consists of 4 links and is controlled by input-output linearization and output zeroing. One of the output functions is designed based on a virtual constraint on the unactuated joint. This makes the remaining zero dynamics unstable when output zeroing is achieved. Vertical jumping motion is then accomplished by designing the other output functions to synchronize the joint angles with the zero dynamics. The present scheme is verified through simulations.
Date of Conference: 31 May 2015 - 03 June 2015
Date Added to IEEE Xplore: 10 September 2015
Electronic ISBN:978-1-4799-7862-5
Conference Location: Kota Kinabalu, Malaysia

References

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