Adaptive Fuzzy Control for Trajectory Tracking of Hopping Robot

摘要

Based on free-floating space,unified dynamics equations of jumping motion are established transferred from flight phase with holonomic and non-holonomic constraints to stance phase with only holonomic constraints.Trajectory tracking of adaptive fuzzy control was researched.The hybrid model between adaptive fuzzy and computational torque control improved robustness of jumping robot by numerical simulation.The unified dynamics models adapts to the robot space in state of microgravity or weightlessness.The hybrid control can also have a use of posture and stability control for non-regular motion.