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A simplified lossless model of the Raibert planar hopper is introduced for the purpose of analytically studying the control of forward velocity. A closed-form return map describing the robot's state at the next hop as a function of that at the current hop is derived. The Raibert forward velocity controller is introduced and the fixed points of the closed loop system are characterized as well as the stability of these points. A new control law inspired by this analysis is introduced and compared with the Raibert control law.
Schwind, William J. and Koditschek, Daniel E., "Control of forward velocity for a simplified planar hopping robot" (1995). Departmental Papers (ESE). Paper 377.
Date Posted: 03 June 2008
This document has been peer reviewed.