NDLI: Effectiveness of reference height control system for tripod hopping robot

Content Provider	IEEE Xplore Digital Library
Author	Kassim, A.M. Rahim, N.H.A. Miskon, M.F. Yasuno, T.
Copyright Year	2011
Description	Author affiliation: Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia (Kassim, A.M.; Rahim, N.H.A.; Miskon, M.F.) \|\| The University of Tokushima, 2-1 Minamijosanjima-cho Tokushima, 770-8506 Japan (Yasuno, T.)
Abstract	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.
Starting Page	1
Ending Page	4
File Size	398339
Page Count	4
File Format	PDF
ISBN	9781612844350
e-ISBN	9781612844374
DOI	10.1109/ICOM.2011.5937123
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-17
Publisher Place	Malaysia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics Tripod hopping robot Control systems Robot sensing systems Reference height control system Steady-state Leg
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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