KIAM Main page Web Library  •  Publication Searh  Русский 
Publication

KIAM Preprint № 60, Moscow, 2009
Authors: Borovin G. K., Lapshin V.V., Chashnikov S.P
Motion control of a hoping robot in the flight phase with zero angular momentum
Abstract:
Planar motion of one-legged hoping robot with telescopic leg is investigated. The mathematical model of robot motion relative to the center of mass in the flight phase is constructed. The problem of the robot motion control with zero angular momentum is solved. The mathematical simulation results are presented.
Keywords:
hoping robot, flight phase, motion control
Publication language: russian, pages: 19
Research direction:
Theoretical and applied problems of mechanics
Source text: