The development of hopping capabilities for small robots (original) (raw)

Design, modeling and control of a hopping robot

International Conference on Intelligent RObots and Systems - IROS, 1993

The authors report progress towards model based, dynamically stable legged locomotion with energy efficient, electrically actuated robots. The present the mechanical design of a prismatic robot leg which is optimized for electrical actuation. A dynamical model of the robot and the actuator as well as the interaction with ground is derived and validated by demonstrating close correspondence between simulations and

Agile hopping robot for lunar exploration targeting data gathering and sample collection

2019

The growing number of space missions has led to the application of the concept of hopping robots for autonomous locomotion in planetary and small-body environments. The strong jumping ability of this type of robots allow them to move in such complex environments with high efficiency. The main challenge to this concept has been related to impacts with the ground. To solve this issue, this thesis explores the application of a Double Gimbal Variable Speed Control Moment Gyroscope to control the attitude of a hopping robot during a ballistic flight. During flight, this actuator must be able to guarantee an attitude and angular velocity of the robot such that, when the robot hits the ground, it has a safe position. Additionally, in flight, the robot must be able to perform observation maneuvers that require the robot to achieve a certain attitude with zero angular velocity. To achieve these objectives, this thesis presents the system equations of motion. Then, a broad study of the contro...