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Apex Height Control of a Two-Mass Robot Hopping on a Viscoelastic Foundation With Inertia

[+] Author Affiliations
Amer Allafi, Ranjan Mukherjee

Michigan State University, East Lansing, MI

Frank B. Mathis

GeoControl Systems, Houston, TX

Paper No. DSCC2018-8975, pp. V001T04A004; 7 pages
  • ASME 2018 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare
  • Atlanta, Georgia, USA, September 30–October 3, 2018
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5189-0
  • Copyright © 2018 by ASME


A majority of the results in the literature on hopping robots assume the ground to be rigid. Hopping on a foundation that can be modeled as a mass-spring-damper system poses challenges due to undesired vibration of the additional degree-of-freedom and dissipation due to impact and viscous damping. A hybrid control strategy is developed to converge the maximum jumping height of the center-of-mass of a two-link prismatic-joint robot to a desired value. The hybrid control strategy uses backstepping in continuous time and integral control in discrete time to control the internal degree-of-freedom and the total energy. Simulation results are presented to demonstrate the efficacy of the controller.

Copyright © 2018 by ASME



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