Generalizing the Hop: Object-Level Programming for Legged Motion

Abstract

This paper presents a model-independent method for controlling a hopping robot. The approach focuses on the interaction between the hopper and its surrounding at points of contact. It is only through reactions at contact points that a hopper can alter its momenta. A generalization of the virtual leg abstraction allows control programs to be expressed as constraints on the external forces and torques acting on the hopper. The relationship between the nature external contacts and motion control strategies is investigated. The results of simulations for a variety of hoppers are presented.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1990
Accession Number
ADA231315

Entities

People

  • J. K. Kearney
  • S. Hansen

Organizations

  • University of Iowa

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Angular Momentum
  • Angular Motion
  • Computer Programming
  • Computer Science
  • Computers
  • Control Systems
  • Databases
  • Equations
  • Equations Of Motion
  • Formal Languages
  • Joints (Anatomy)
  • Language
  • Moment Of Inertia
  • Momentum
  • Programming Languages
  • Relative Motion
  • Simulations

Readers

  • Artificial Intelligence
  • Radio communications and signal processing.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control