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	Optimal motion planning of a one-legged hopping robot
	He, Guang-Ping ; Geng, Zhi-Yong
	2008
DOI	10.1109/ROBIO.2007.4522331
英文摘要	The optimal motion planning and stable jumping control for a new one-legged hopping robot are investigated. The new robot has one passive telescopic leg and two actuated arms, therefore an underactuated mechanical system of which the motion can only be controlled by the internal dynamic coupling. The features of the dynamic coupling between the passive leg and the actuated arms are analyzed through measuring two proposed indices. An optimal motion planning algorithm is introduced for maximizing energy efficiency of the motion of the robot. The feasibility of the optimal motion-planning algorithm is verified by some numerical simulations in which varying height and varying moving speed are considered. ? 2008 IEEE.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/263416]
专题	工学院
推荐引用方式 GB/T 7714	He, Guang-Ping,Geng, Zhi-Yong. Optimal motion planning of a one-legged hopping robot[C]. 见:.

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