Control algorithms for a vertically-constrained one-legged hopping machine

Andres Lebaudy, Joseph Prosser, Moshe Kam

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

A physical prototype of a vertically-constrained, one-legged hopping machine is presented. The machine consists of an elevated body supported by a single springy leg and a leg actuator used to manipulate the leg's length. The body of the machine is a DC motor.. The leg and leg actuator are a system of tubes and a mechanical spring that allow smooth and repeatable hopping.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
PublisherPubl by IEEE
Pages2688-2693
Number of pages6
ISBN (Print)0780312988
StatePublished - 1993
Externally publishedYes
EventProceedings of the 32nd IEEE Conference on Decision and Control. Part 3 (of 4) - San Antonio, TX, USA
Duration: Dec 15 1993Dec 17 1993

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume3
ISSN (Print)0191-2216

Other

OtherProceedings of the 32nd IEEE Conference on Decision and Control. Part 3 (of 4)
CitySan Antonio, TX, USA
Period12/15/9312/17/93

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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