Research on compliant hopping for equivalent model of hydraulic robot leg

Yu Dong He; Jun Zheng Wang; Shou Kun Wang; Xian Feng Ke

doi:10.15918/j.tbit1001-0645.2016.08.009

Research on compliant hopping for equivalent model of hydraulic robot leg

Yu Dong He, Jun Zheng Wang, Shou Kun Wang, Xian Feng Ke

自动化学院

Beijing Institute of Technology

科研成果: 期刊稿件 › 文章 › 同行评审

3 引用（Scopus）

摘要

Spring loaded inverted pendulum (SLIP) based equivalent leg is an important gait analyzing model in the realm of mobile robot. Due to superb load capacity and dynamic performance, hydraulic based robot has gained more popularity. As an equivalent model for articulated leg in hydraulic legged robot, hydraulic activated SLIP model shows its importance in hydraulic robot gait analysis. In this paper, analyzing the hydraulic actuated 1-DOF SLIP model, an active compliance based hopping method was proposed. And the separation control for stance phase compression and decompression stage was conducted. System parameters were analyzed with simulation for hopping performance and hopping experiments verified the effectiveness of impact force reduction and hopping height control performance.

源语言	英语
页（从-至）	820-826
页数	7
期刊	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
卷	36
期	8
DOI	https://doi.org/10.15918/j.tbit1001-0645.2016.08.009
出版状态	已出版 - 1 8月 2016

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title = "Research on compliant hopping for equivalent model of hydraulic robot leg",

abstract = "Spring loaded inverted pendulum (SLIP) based equivalent leg is an important gait analyzing model in the realm of mobile robot. Due to superb load capacity and dynamic performance, hydraulic based robot has gained more popularity. As an equivalent model for articulated leg in hydraulic legged robot, hydraulic activated SLIP model shows its importance in hydraulic robot gait analysis. In this paper, analyzing the hydraulic actuated 1-DOF SLIP model, an active compliance based hopping method was proposed. And the separation control for stance phase compression and decompression stage was conducted. System parameters were analyzed with simulation for hopping performance and hopping experiments verified the effectiveness of impact force reduction and hopping height control performance.",

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T1 - Research on compliant hopping for equivalent model of hydraulic robot leg

AU - He, Yu Dong

AU - Wang, Jun Zheng

AU - Wang, Shou Kun

AU - Ke, Xian Feng

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N2 - Spring loaded inverted pendulum (SLIP) based equivalent leg is an important gait analyzing model in the realm of mobile robot. Due to superb load capacity and dynamic performance, hydraulic based robot has gained more popularity. As an equivalent model for articulated leg in hydraulic legged robot, hydraulic activated SLIP model shows its importance in hydraulic robot gait analysis. In this paper, analyzing the hydraulic actuated 1-DOF SLIP model, an active compliance based hopping method was proposed. And the separation control for stance phase compression and decompression stage was conducted. System parameters were analyzed with simulation for hopping performance and hopping experiments verified the effectiveness of impact force reduction and hopping height control performance.

AB - Spring loaded inverted pendulum (SLIP) based equivalent leg is an important gait analyzing model in the realm of mobile robot. Due to superb load capacity and dynamic performance, hydraulic based robot has gained more popularity. As an equivalent model for articulated leg in hydraulic legged robot, hydraulic activated SLIP model shows its importance in hydraulic robot gait analysis. In this paper, analyzing the hydraulic actuated 1-DOF SLIP model, an active compliance based hopping method was proposed. And the separation control for stance phase compression and decompression stage was conducted. System parameters were analyzed with simulation for hopping performance and hopping experiments verified the effectiveness of impact force reduction and hopping height control performance.

KW - Active compliance

KW - Equivalent leg

KW - Hydraulic legged robot

KW - SLIP model

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Research on compliant hopping for equivalent model of hydraulic robot leg

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