Effectiveness of Central Pattern Generator Model on Developed One Legged Hopping Robot
The paper presents the validity of using Central Pattern Generator (CPG) model to develop one leg hopping robot which hops higher and rhythmically. Infrared Ranging (IR) sensor is mounted on a platform to measure the distance of hopping performance. The distances of IR sensor from the plat...
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| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/4533/1/scored.pdf http://eprints.utem.edu.my/id/eprint/4533/ http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6148713&contentType=Conference+Publications&searchField%3DSearch_All%26queryText%3Dkassim+hopping |
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| Summary: | The paper presents the validity of using Central
Pattern Generator (CPG) model to develop one leg hopping robot
which hops higher and rhythmically. Infrared Ranging (IR)
sensor is mounted on a platform to measure the distance of
hopping performance. The distances of IR sensor from the
platform to the floor in both static and vertical jumping motion
are measured. MATLAB & Simulink model including CPG
model is designed to evaluate the performance of IR sensor by
converting the measurement data from IR sensor from voltage to
distance by using function blocks. The result shows that the one
leg hopping robot with CPG model is able to achieve maximum
hopping height at 4cm. |
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