| ID | 119380 |
| Author |
Kato, Ayumu
Tokushima University
Kitajima, Takahiro
Tokushima University
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Kuwahara, Akinobu
Tokushima University
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| Content Type |
Journal Article
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| Description | We propose attitude stabilization control for a biped hopping robot with springs and a closed-link leg mechanism. The robot has an inertial rotor to stabilize the attitude in combination with the swinging control of the leg. The attitude stabilization control is realized using an integral optimum servo controller designed on the basis of the linear quadratic regulator method. The attitude of the robot is estimated from the acceleration of the robot body measured by an IMU. Experiments using this system are conducted to confirm the attitude stabilization performance compared with the simulation results.
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| Journal Title |
Journal of Signal Processing
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| ISSN | 18801013
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| Publisher | Research Institute of Signal Processing
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| Volume | 27
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| Issue | 4
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| Start Page | 129
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| End Page | 132
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| Published Date | 2023-07-01
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| Remark | 利用は著作権の範囲内に限られる。
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| EDB ID | |
| DOI (Published Version) | |
| URL ( Publisher's Version ) | |
| FullText File | |
| language |
eng
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| TextVersion |
Publisher
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| departments |
Science and Technology
Technical Support Department
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