Moving Motion Control System On Developed Tripod Hopping Robot
This paper discussed on evaluation and validation of method in order to generate the moving motion control system of the developed tripod hopping robot. The proposed method to control the system is designed by using MATLAB&Simulink which consist of reference height control system and the...
| 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/4519/ http://eprints.utem.edu.my/id/eprint/4519/1/Moving_Motion_Control_System_On_Developed_Tripod_Hopping_Robot.pdf |
| Summary: | This paper discussed on evaluation and validation
of method in order to generate the moving motion control system
of the developed tripod hopping robot. The proposed method to
control the system is designed by using MATLAB&Simulink
which consist of reference height control system and the networks
of Central Pattern Generator (CPG) that can controlled the
hopping height of each leg independently. By using this method,
one of the legs of the tripod hopping robot is set to different value
than the other leg in order to make the posture of hopping
robot’s body incline ahead towards to the direction which it
should move, respectively. As the result, the effectiveness of the
approached method to generate moving motion of the hopping
robot using CPG networks that including the reference height
control system is confirmed while maintain the stability of
developed tripod hopping robot from tumbled ahead. |
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