1. Hopping Robot Project Robot Design Speed Control Height Control
Principal Investigator: Gaurav S. Sukhatme
Graduate Student: Kale Harbick
Undergraduate Students: Michael Poole and Zach Turner
Robotic Embedded Systems Lab
Robot Design
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
Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a one-dimensional model. Technical Report IRIS , Institute for Robotics and Intelligent Systems, University of Southern California, 2001.
Kale Harbick and Gaurav S. Sukhatme. Height control for a one-legged hopping robot using a two-dimensional model. Technical Report IRIS , Institute for Robotics and Intelligent Systems, University of Southern California, 2001.
Kale Harbick and Gaurav S. Sukhatme. Controlling hopping height of a pneumatic monopod. ICRA 2002 (to appear).
Kale Harbick and Gaurav S. Sukhatme. Speed Control of a Pneumatic Monopod using a Neural Network. Submitted to SAB 2002.
GUI screenshot
Speed Control
Height Control
Raibert
Neural Net
2d Model
1d Model
Neutral point: foot position which will result in zero net acceleration
Raibert approach
Approximated using stance duration
Linearity assumption breaks down at higher speeds
Neural network approach
A simple 2-layer network can approximate the neutral point function with greater fidelity