Transcript Document

Hopping Robot Project
Robotic Embedded Systems Lab
Principal Investigator: Gaurav S. Sukhatme
Graduate Students: Kale Harbick
Undergraduate Students: Michael Poole
Robot Design
http://robotics.usc.edu/~kale/hopper.html
[email protected]
Height Control
1d Model
2d Model
dL
y

K s  k y
dy

g
ms L ms
Advantages
•On-board Power
•On-board Computation
•Self-contained
•Use of pneumatics allows changing of
spring constants on the fly
Disadvantages
•Short run-time
•Pneumatics more difficult to control than
motors
•Air tanks are not as convenient as
batteries
dL
y


dy  K s sin   k y



 g  sin 
ms
 ms L

lo L2max
d

dy  K s sin   k y



 g  L2
ms
 ms L

GUI screenshot
1.
Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a
one-dimensional model. Technical Report IRIS-01-405, Institute for Robotics and Intelligent
Systems, University of Southern California, 2001.
2.
Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a
two-dimensional model. Technical Report IRIS-01-406, Institute for Robotics and Intelligent
Systems, University of Southern California, 2001.
3.
Kale Harbick and Gaurav S. Sukhatme. Controlling hopping height of a pneumatic monopod.
Submitted for review to ICRA 2002.