Effectiveness of reference height control system for tripod hopping robot
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...
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| creator | Kassim, A. M. Rahim, N. H. A. Miskon, M. F. Yasuno, T. |
| description | 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. |
| doi_str_mv | 10.1109/ICOM.2011.5937123 |
| format | Conference Proceeding |
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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.</description><subject>Control systems</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Reference height control system</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><subject>Steady-state</subject><subject>Tripod hopping robot</subject><isbn>1612844359</isbn><isbn>9781612844350</isbn><isbn>1612844367</isbn><isbn>9781612844374</isbn><isbn>1612844375</isbn><isbn>9781612844367</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFj8FKAzEURSMiqLUfIG7yA1PzkkwyWcpQdaDSTfclM3npRNrJkAShf2_BgmdzOZsLh5BnYCsAZl67dvu14gxgVRuhgYsb8ggKeCOlUPr2X2pzT5Y5f7MLShnD4YF0a-9xKOEHJ8yZRk8Tekw4DUhHDIex0CFOJcUjzedc8ER9TLSkMEdHxzjPYTrQFPtYnsidt8eMy-suyO59vWs_q832o2vfNlUwrFQOHDcgnes1Z3awDCQYCY3R0vee20bUvOZ6sFJK5XztlWhcD1Yyoc2lVizIy99tQMT9nMLJpvP-Wi5-ATFoTKs</recordid><startdate>201105</startdate><enddate>201105</enddate><creator>Kassim, A. 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F. ; Yasuno, T.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-d1d2914ddb720aca01419418974fbf2a8352527ca4446df5f638db1a403791093</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Control systems</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Reference height control system</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><topic>Steady-state</topic><topic>Tripod hopping robot</topic><toplevel>online_resources</toplevel><creatorcontrib>Kassim, A. M.</creatorcontrib><creatorcontrib>Rahim, N. H. A.</creatorcontrib><creatorcontrib>Miskon, M. F.</creatorcontrib><creatorcontrib>Yasuno, T.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kassim, A. M.</au><au>Rahim, N. H. A.</au><au>Miskon, M. F.</au><au>Yasuno, T.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Effectiveness of reference height control system for tripod hopping robot</atitle><btitle>2011 4th International Conference on Mechatronics (ICOM)</btitle><stitle>ICOM</stitle><date>2011-05</date><risdate>2011</risdate><spage>1</spage><epage>4</epage><pages>1-4</pages><isbn>1612844359</isbn><isbn>9781612844350</isbn><eisbn>1612844367</eisbn><eisbn>9781612844374</eisbn><eisbn>1612844375</eisbn><eisbn>9781612844367</eisbn><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.</abstract><pub>IEEE</pub><doi>10.1109/ICOM.2011.5937123</doi><tpages>4</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control systems Leg Legged locomotion Reference height control system Robot kinematics Robot sensing systems Steady-state Tripod hopping robot |
| title | Effectiveness of reference height control system for tripod hopping robot |
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