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Analysis and Design of Jumping Robot System Using the Model Transformation Method
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 Title & Authors
Analysis and Design of Jumping Robot System Using the Model Transformation Method
Suh Jin-Ho; Yamakita Masaki;
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 Abstract
This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.
 Keywords
iterative learning control;linearization;LQ optimal control;model transformation method;nonholonomic;stochastic dynamic manipulability;
 Language
English
 Cited by
 References
1.
M. Yamakita and K. Furuta, 'Iterative Generation of Virtual Reference for a Manipulator', J. of Robotica, Vol. 9, pp. 71-80, 1991 crossref(new window)

2.
M. Yamakita and Y. Omagari, 'Jumping cat robot with kicking a wall', Proc. of Adaptive Motion of Animals and Machines, 2002

3.
J. H. Suh, M. Yamakita, and S. B. Kim, 'Jumping Control of Cat Robot System using Model Transformation', Proc. of KIEE Conf, pp. 2427-2429, 2002

4.
J. H. Suh, M. Yamakta, and K. S. Lee, 'A Study on Motion Planning Generation of Jumping Robot System using Model Transformation Method', J. of KSPE, Vol. 21, No. 4, pp. 120-13 1, April, 2004

5.
J. H. Suh, M. Yamakita, and K. S. Lee, 'Study on Jumping Robot System using Model Transformation', Proc. of KIEE Conf, pp. 228-235, May, 2004