Control of a two-link robot to achieve sliding and hopping gaits

摘要: A new example of a hopping robot is considered, consisting simply two links (the end one link acts as the foot) joined by an actuated, revolute joint. For stance phase nonlinear controller derived that maintains balance and periodically accelerates center mass vertically. large enough oscillations can slide or take off. If flight achieved, drift caused non-zero angular momentum typically be cancelled rotating actuated joint integral number times, land in same configuration which it took This due to holonomy single rotation Results simulations are presented achieves both sliding gaits. >