Vertical motion control of a one legged hopping robot by using central pattern generator (CPG)

• Main Authors: Azahar, Arman Hadi, Chong, Shin Horng, Mohammed Kassim, Anuar
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utem.edu.my/id/eprint/10473/1/%5BFinal_Manuscript%5DCall_for_papers___ISIEA_2013.pdf; http://eprints.utem.edu.my/id/eprint/10473/; http://isiea2013.myies.org/

This paper presents vertical motion control of a one-legged hopping robot using Central Pattern Generator (CPG). The hopping dynamic of the hopping robot is produced by controlling the motor speed to produce force through the crank to the mass, spring, and damper. The classical controllers; PI and P...