Attitude control of hopping robot using angular momentum

摘要

In this paper, a construction of hopping control is proposed. The hopping robot considered in this paper has parallel link structure, in order to distribute the load torque of actuators. Collision relief control (CRC), hopping velocity and attitude control (HVAC) and landing equipment control (LEC) are proposed as controllers. The compliance control is introduced in CRC, in order to ease the collision force at landing. HVAC consists of hopping velocity control (HVC) and attitude control (AC). In HVC, velocity command is generated by "the law of conservation of kinetic energy". In AC, the command is derived in consideration of change of the posture in aerial phase. LEC is prepared for the next touchdown. The hopping control that can be adapted for many situations is proposed. A simulation is performed applying the proposed control method and the validity of the control method is proved.