Effectiveness of Reference Height Control system for Tripod Hopping Robot
In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/4518/ http://eprints.utem.edu.my/id/eprint/4518/1/icom_2011.pdf |
| _version_ | 1848887041982464000 |
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| author | Anuar , Mohamed Kassim Mohammad Fahmi , Miskon Nurul Hafizah, Abd Rahim Takashi , Yasuno |
| author_facet | Anuar , Mohamed Kassim Mohammad Fahmi , Miskon Nurul Hafizah, Abd Rahim Takashi , Yasuno |
| author_sort | Anuar , Mohamed Kassim |
| building | UTeM Institutional Repository |
| collection | Online Access |
| description | In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller system in the system of Central Pattern Generator (CPG). By using the approached method, tripod hopping robot can maintain the hopping motion and control the jumping height to achieve the reference height. As the result, we evaluate the effectiveness of CPG networks to keep the stability of tripod hopping robot besides of confirm the validity of using reference height control system to generate moving capability at different reference height. |
| first_indexed | 2025-11-15T19:48:05Z |
| format | Conference or Workshop Item |
| id | utem-4518 |
| institution | Universiti Teknikal Malaysia Melaka |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T19:48:05Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utem-45182015-05-28T03:25:49Z http://eprints.utem.edu.my/id/eprint/4518/ Effectiveness of Reference Height Control system for Tripod Hopping Robot Anuar , Mohamed Kassim Mohammad Fahmi , Miskon Nurul Hafizah, Abd Rahim Takashi , Yasuno TK Electrical engineering. Electronics Nuclear engineering In this paper, the generation of vertical jumping motion for tripod hopping robot through reference height control system method in order to converge the differences of reference height for each leg of tripod hopping robot is discussed. The proposed control system is designed using MATLAB/ Simulink which is consisted of maximum height detector, PI controller system in the system of Central Pattern Generator (CPG). By using the approached method, tripod hopping robot can maintain the hopping motion and control the jumping height to achieve the reference height. As the result, we evaluate the effectiveness of CPG networks to keep the stability of tripod hopping robot besides of confirm the validity of using reference height control system to generate moving capability at different reference height. 2011-05-19 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utem.edu.my/id/eprint/4518/1/icom_2011.pdf Anuar , Mohamed Kassim and Mohammad Fahmi , Miskon and Nurul Hafizah, Abd Rahim and Takashi , Yasuno (2011) Effectiveness of Reference Height Control system for Tripod Hopping Robot. In: 2011 4th International Conference on Mechatronics (ICOM),, 17-19 May 2011, Kuala Lumpur, Malaysia. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5937123&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3Dkassim+hopping |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Anuar , Mohamed Kassim Mohammad Fahmi , Miskon Nurul Hafizah, Abd Rahim Takashi , Yasuno Effectiveness of Reference Height Control system for Tripod Hopping Robot |
| title | Effectiveness of Reference Height Control system for Tripod Hopping Robot |
| title_full | Effectiveness of Reference Height Control system for Tripod Hopping Robot |
| title_fullStr | Effectiveness of Reference Height Control system for Tripod Hopping Robot |
| title_full_unstemmed | Effectiveness of Reference Height Control system for Tripod Hopping Robot |
| title_short | Effectiveness of Reference Height Control system for Tripod Hopping Robot |
| title_sort | effectiveness of reference height control system for tripod hopping robot |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utem.edu.my/id/eprint/4518/ http://eprints.utem.edu.my/id/eprint/4518/ http://eprints.utem.edu.my/id/eprint/4518/1/icom_2011.pdf |