A Control of underactuated hopping gait systems：Acrobot example.pdfVIP

Proceedingsof the 39IhJEEE Conference on Decision and Control Sydney, Australia December, 2000 A Control of underactuated hopping gait systems :Acrobot example Masahiro Miyazaki, Mitsuji Sampei, Masanobu Koga, Akiko Takahashi Tokyo Institute of Technology 2-12-1 Oh-Okayama, Meguro-ku, Tokyo, Japan miyazakiQds.mei .titech. ac .jp Abstract mechanically and leaping over small obstacles. With only one leg there is no need to coordinate several While many researchers have been working on hop- legs, so this difficult problem is avoid, whereas the ping gait systems, most of the previous works have need for active balance is central. Moreover, it can focused on the mechanism designed by Raibert which be said that it is easy to control, since the control has two actuators. In this paper, we consider the ac- problem is separable so that the hopping height is robot, which has only one actuator as our model of controlled by a prismatic leg and the body attitude a hopping gait system. In spite of difficulty of re- is controlled by the revolute hip joints. Unlike with alizing acrobot’s hopping gait, it produces more in- Raibert’system, it is intuitively difficult to realize the teresting and attractive control problems than Raib- acrobot’s hopping gait. The acrobot is a more attrac- ert’s model. Furthermore, the hopping principle of tive than Raibert’s’ model, and we think there is a legged systems can be understood by treating the room for the further research about the acrobot. system which is difficult to control by intuition like acrobot. We recall the work of Berkemeier et al.’s research [l]for they are dealing with the hopping problem 1 Introduction of the acrobot like our research. They showed that various gaits are realizable by choosing the output Numerous researches on animal’s and human being’s function which performs the simple harmonic motion walk have done in various fields