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Passive periodic motion of an asymmetric spring loaded inverted pendulum hopping robot
1 School of Aircraft Engineering, Xi’an Aeronautical Institute, Xi’an 710077, China
2 Xi’an Founder Robot Co., Ltd, Xi’an 710072, China
* Corresponding Authors: Yingge Ni (), Xiangyan Meng (
)
Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería 2023, 39(1), 1-7. https://doi.org/10.23967/j.rimni.2023.01.002
Accepted 01 January 2023; Issue published 13 January 2023
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For improving the energy efficiency of hopping robot, an asymmetric spring loaded inverted pendulum hopping model with leg mass is considered. The period orbit problem of two-legged hopping robot is investigated. Firstly, the hybrid dynamic model is constructed. Then the passive hopping gaits are found using quasi-newton optimization method. Secondly, a PD controller is implemented to track the desired pitch trajectory of the body. Through applying control during stance phase, period orbits of the robot with offset body mass is obtained. Finally, the effect of the location of the leg mass and the body mass on hopping performances is investigated.Keywords
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APA Style
Ni, Y., Meng, X. (2023). Passive periodic motion of an asymmetric spring loaded inverted pendulum hopping robot. Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería, 39(1), 1-7. https://doi.org/10.23967/j.rimni.2023.01.002
Vancouver Style
Ni Y, Meng X. Passive periodic motion of an asymmetric spring loaded inverted pendulum hopping robot. Rev int métodos numér cálc diseño ing. 2023;39(1):1-7 https://doi.org/10.23967/j.rimni.2023.01.002
IEEE Style
Y. Ni and X. Meng, "Passive periodic motion of an asymmetric spring loaded inverted pendulum hopping robot," Rev. int. métodos numér. cálc. diseño ing., vol. 39, no. 1, pp. 1-7. 2023. https://doi.org/10.23967/j.rimni.2023.01.002
Copyright © 2023 The Author(s). Published by Tech Science Press.This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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