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- W2034172010 abstract "the hopping control of a one-legged robot is investigated using Spring Loaded Inverted Pendulum (SLIP). The hopping progress of a robot is divided into the flight phase and the stance phase. The dynamics Models of a hopping robot are established using Lagrangian equation. The Impact models of a robot's landing and take-off phase are obtained under instantaneous impact hypothesis. The periodic hopping control of a robot is realized using one actuator and simple PD control technology. The computer simulations show that the control algorithm proposed in this paper is effective for the periodic hopping control of a robot, and the double periodic hopping will be appeared when the PD parameters are increased." @default.
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- W2034172010 date "2010-07-01" @default.
- W2034172010 modified "2023-10-11" @default.
- W2034172010 title "Hoping control of a one-legged robot" @default.
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- W2034172010 doi "https://doi.org/10.1109/wcica.2010.5554241" @default.
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