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Stable one-legged hopping without feedback and with a point foot

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4 Author(s)
K. D. Mombaur ; IWR, Heidelberg Univ., Germany ; R. W. Longman ; H. G. Bock ; J. P. Schloder

We present two-dimensional monopods that are capable of stable periodic hopping motions without any feedback. It is shown that a large foot radius is not necessary for self-stabilization and that even one-legged robots with a point foot can perform open-loop stable motions although they have no statically stable standing position. The concept of open-loop stability implies that the actuators receive purely periodic torque or force inputs that are never altered with any feedback to prevent the robot from falling. The robots consist of a toroidal body and a leg that are connected by a hinge powered by a torque. The leg bounces on an adjustable spring. The design of these robots and the choice of model parameter values leading to stable motions is a difficult task that has been accomplished using newly developed stability optimization methods.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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