Trajectory Planning of a One-Legged Robot Performing a Stable Hop

Authors:
Ting-Ying Wu;T.J. Yeh;Bing-Hung Hsu
Affiliations:
Department of Power Mechanical Engineering, National Tsing Hua University Hsinchu, Taiwan, R.O.C.;Department of Power Mechanical Engineering, National Tsing Hua University Hsinchu, Taiwan, R.O.C.;Department of Power Mechanical Engineering, National Tsing Hua University Hsinchu, Taiwan, R.O.C.
Venue:
International Journal of Robotics Research
Year:
2011

Citing 13
Cited 0

Legged robots that balance

Legged robots that balance
Biped gymnastics

International Journal of Robotics Research
Analysis of a simplified hopping robot

International Journal of Robotics Research
An introduction to NURBS: with historical perspective

An introduction to NURBS: with historical perspective
Control of foot placement, forward velocity and body orientation of a one-legged hopping robot

Robotica
Optimal reference trajectories for walking and running of a biped robot

Robotica
A Parametric Optimization Approach to Walking Pattern Synthesis

International Journal of Robotics Research
Hopping on Even Ground and Up Stairs with a Single Articulated Leg

Journal of Intelligent and Robotic Systems
Optimal design and implementation of an energy-efficient biped walking in semi-active manner

Robotica
Modeling and control of the monopedal robot thumper

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Planar bipedal jumping gaits with stable landing

IEEE Transactions on Robotics
Controlled passive dynamic running experiments with the ARL-monopod II

IEEE Transactions on Robotics
Design, control, and energetics of an electrically actuated legged robot

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, stable hopping of a one-legged, articulated robot with a flat foot is investigated. The robot has a special feature that before taking off, it goes through an underactuated phase in which the foot rotates about the unactuated toe on the ground. By having an underactuated phase, the robot can perform stable human-like hops with longer hopping distances. To devise a systematic trajectory design methodology for the robot, its dynamics was first derived, including the effects of ground-foot impact and hopping constraints. An optimization procedure is then proposed to plan the feasible actuated trajectories that not only meet performance requirements but also attain optimality with respect to the use of actuation energy. The hopping strategy and the planned trajectories are then verified by simulation and hardware implementation. Experiments indicate that the robot can perform stable hops with different hopping distances on level ground and can successfully hop up and down staircases.