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مقاله‌ی دسترسی آزاد

Optimizing central pattern generators (CPG) controller for one legged hopping robot by using genetic algorithm (GA)

ArmanHadi Azahar, ChongShin Horng, AnuarMohamed Kassim, AmarFaiz Zainal Abidin, MohamadHaniff Harun, MohdBadril Nor Shah, KhalilAzha Mohd Annuar, MustafaManap, ZairiIsmael Rizman

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اسناد مشابه

  • Dynamics and Control for a Novel One-Legged Hopping Robot in Stance Phase

    سند علمی۲۰۱۲Guang-Ping He, Zhi-Yong Geng

    Legged locomotion systems are a class of biological robots by supporting on the ground with discrete points, and can traverse nature terrain in large range. This kind of robots is a class of important research objects in robotics community in a long time. In the early time, most

  • Dynamics-based control of a one-legged hopping robot

    سند علمی۲۰۰۳S H Hyon, T Emura, T Mita

    This paper proposes a new model of a one-legged hopping robot. The one-legged hopping robot is useful in realizing rapid movement such as that of a running animal. Although it has a simple leg mechanism, the dynamics are not simple and require non-linear complex analysis. This me

  • Design of Central Pattern Generators (CPGs) for Trajectory Tracking of Fish-Mimetic Robots

    سند علمی۲۰۰۹Donghee Kim, Seunghee Lee, Jong Hyeon Park

    A CPG (Central Pattern Generator) is a biological neural network that generates rhythmic movements for locomotion of animals, such as walking, running, swimming and flying. Also, fish show marvelous ability of autonomous dynamic adaptation for an unsteady fluid dynamic environmen

  • Model-Based Identification and Control of a One-Legged Hopping Robot

    سند علمی۲۰۱۸CoRRHasan Eftun Orhon

    MODEL-BASED IDENTIFICATION AND CONTROL OF A ONE-LEGGED HOPPING ROBOT Hasan Eftun Orhon M.S. in Electrical and Electronics Engineering Advisor: Ömer Morgül January 2018 Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alter

  • Height Control for a One-Legged Hopping Robot using a One-Dimensional Model

    سند علمی۲۰۰۱Kale Harbick, Gaurav Sukhatme

    The hopping machine considered in this paper is like a pogo-stick; it has a small foot and a leg spring. Unlike a pogo-stick which uses a mechanical spring, the spring for the hopper is pneumatic. The controller is based on Raibert’s three-part control system [1]. Raibert control

  • Force Control in One Legged Hopping Robot while Landing

    سند علمی۲۰۰۹V. L. Krishnan, P. M. Pathak, S. C. Jain

    In this paper, the issue of control of impact forces generated during the interaction between the hopping robot toe and the ground during landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces imped