Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

Libo Meng; Marco Ceccarelli; Zhangguo Yu; Xuechao Chen; Gao Huang; Qiang Huang

doi:10.1007/978-3-030-58380-4_4

Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

Libo Meng^*, Marco Ceccarelli, Zhangguo Yu, Xuechao Chen, Gao Huang, Qiang Huang

^*此作品的通讯作者

机电学院

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

摘要

In this paper, a jumping control method is proposed as based on Virtual Model Control (VMC). The virtual force and torque acting on the trunk are used to control the jumping height, speed, and posture. VMC is used to calculate the driving torque of joints to exert the desired virtual force and torque. Each jumping cycle is divided into three states: flying in the air, landing and balance control, and thrusting. Then, a finite state machine (FSM) is adopted to switch between each jumping states. The proposed continuous jumping method is verified through dynamic simulations whose results are discussed also to characterize the jumping performance.

源语言	英语
主期刊名	CISM International Centre for Mechanical Sciences, Courses and Lectures
出版商	Springer Science and Business Media Deutschland GmbH
页	24-33
页数	10
DOI	https://doi.org/10.1007/978-3-030-58380-4_4
出版状态	已出版 - 2021

出版系列

姓名	CISM International Centre for Mechanical Sciences, Courses and Lectures
卷	601
ISSN（印刷版）	0254-1971
ISSN（电子版）	2309-3706

访问文件

10.1007/978-3-030-58380-4_4

其它文件与链接

链接到 Scopus 的出版物

引用此

Meng, L., Ceccarelli, M., Yu, Z., Chen, X., Huang, G., & Huang, Q. (2021). Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures (页码 24-33). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 601). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-58380-4_4

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title = "Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform",

abstract = "In this paper, a jumping control method is proposed as based on Virtual Model Control (VMC). The virtual force and torque acting on the trunk are used to control the jumping height, speed, and posture. VMC is used to calculate the driving torque of joints to exert the desired virtual force and torque. Each jumping cycle is divided into three states: flying in the air, landing and balance control, and thrusting. Then, a finite state machine (FSM) is adopted to switch between each jumping states. The proposed continuous jumping method is verified through dynamic simulations whose results are discussed also to characterize the jumping performance.",

keywords = "Continuous jumping, Infinite state machine, Torque control, Virtual Model Control",

author = "Libo Meng and Marco Ceccarelli and Zhangguo Yu and Xuechao Chen and Gao Huang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2021, CISM International Centre for Mechanical Sciences.",

year = "2021",

doi = "10.1007/978-3-030-58380-4_4",

language = "English",

series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "24--33",

booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

address = "Germany",

}

Meng, L, Ceccarelli, M, Yu, Z, Chen, X, Huang, G & Huang, Q 2021, Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 卷 601, Springer Science and Business Media Deutschland GmbH, 页码 24-33. https://doi.org/10.1007/978-3-030-58380-4_4

Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform. / Meng, Libo; Ceccarelli, Marco; Yu, Zhangguo 等.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH, 2021. 页码 24-33 (CISM International Centre for Mechanical Sciences, Courses and Lectures; 卷 601).

科研成果: 书/报告/会议事项章节 › 章节 › 同行评审

TY - CHAP

T1 - Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

AU - Meng, Libo

AU - Ceccarelli, Marco

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Huang, Gao

AU - Huang, Qiang

PY - 2021

Y1 - 2021

N2 - In this paper, a jumping control method is proposed as based on Virtual Model Control (VMC). The virtual force and torque acting on the trunk are used to control the jumping height, speed, and posture. VMC is used to calculate the driving torque of joints to exert the desired virtual force and torque. Each jumping cycle is divided into three states: flying in the air, landing and balance control, and thrusting. Then, a finite state machine (FSM) is adopted to switch between each jumping states. The proposed continuous jumping method is verified through dynamic simulations whose results are discussed also to characterize the jumping performance.

AB - In this paper, a jumping control method is proposed as based on Virtual Model Control (VMC). The virtual force and torque acting on the trunk are used to control the jumping height, speed, and posture. VMC is used to calculate the driving torque of joints to exert the desired virtual force and torque. Each jumping cycle is divided into three states: flying in the air, landing and balance control, and thrusting. Then, a finite state machine (FSM) is adopted to switch between each jumping states. The proposed continuous jumping method is verified through dynamic simulations whose results are discussed also to characterize the jumping performance.

KW - Continuous jumping

KW - Infinite state machine

KW - Torque control

KW - Virtual Model Control

UR - http://www.scopus.com/inward/record.url?scp=85092395515&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-58380-4_4

DO - 10.1007/978-3-030-58380-4_4

M3 - Chapter

AN - SCOPUS:85092395515

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 24

EP - 33

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer Science and Business Media Deutschland GmbH

ER -

Meng L, Ceccarelli M, Yu Z, Chen X, Huang G, Huang Q. Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform. 在 CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer Science and Business Media Deutschland GmbH. 2021. 页码 24-33. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-030-58380-4_4

Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform

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