G. K. Borovin, V. V. Lapshin, S. P. Chashnikov, “Motion control of a hoping robot in the flight phase with zero angular momentum”, Keldysh Institute preprints, 2009,060, 19 pp.

Motion control of a hoping robot in the flight phase with zero angular momentum

G. K. Borovin, V. V. Lapshin, S. P. Chashnikov

Abstract: Planar motion of one-legged hoping robot with telescopic leg is investigated. The mathematical model of robot motion relative to the center of mass in the flight phase is constructed. The problem of the robot motion control with zero angular momentum is solved. The mathematical simulation results are presented.

Keywords: hoping robot, flight phase, motion control.