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Avtomatika i Telemekhanika, 2009, Issue 1, Pages 74–84 (Mi at9)  
This article is cited in 3 scientific papers (total in 3 papers)

Deterministic Systems

Control of the hop height of a one-legged resonance robot

R. Fernandesa, T. Akinfievb, M. Armadab

a San Pablo University, Higher Polytechnic School, Department of Electronic Systems and Telecommunications, Madrid, Spain
b Institute of Industrial Automatics, Higher Union of Scientific Investigations of Spain, Department of Automatic Control, Madrid, Spain
Full-text PDF (250 kB) Citations (3)
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Abstract: Vertical motions of a resonance leg specially developed for running and hopping robots are considered. The nonstandard drive used that has dual properties and a variable transfer ratio makes it possible to reduce significantly energy expenses. The solution to the problem of control of the hop height for this leg includes the analysis of a physical model and the analytical solutions for the control optimal in time and optimal in energy. The data of experimental investigations are pointed up, which confirm the efficiency of suggested controllers and show the effectiveness of the developed resonance leg.
Presented by the member of Editorial Board: L. B. Rapoport

Received: 08.02.2008
English version:
Automation and Remote Control, 2009, Volume 70, Issue 1, Pages 64–73
DOI: https://doi.org/10.1134/S0005117909010056
Bibliographic databases:
Document Type: Article
PACS: 02.30.Yy
Language: Russian
Citation: R. Fernandes, T. Akinfiev, M. Armada, “Control of the hop height of a one-legged resonance robot”, Avtomat. i Telemekh., 2009, no. 1, 74–84; Autom. Remote Control, 70:1 (2009), 64–73
Citation in format AMSBIB
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\by R.~Fernandes, T.~Akinfiev, M.~Armada
\paper Control of the hop height of a~one-legged resonance robot
\jour Avtomat. i Telemekh.
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\pages 74--84
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\vol 70
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\pages 64--73
\crossref{https://doi.org/10.1134/S0005117909010056}
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    • This publication is cited in the following 3 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
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    Full-text PDF :126
    References:25
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