Hopping peak height algorithm for a one legged robot hopping height control
This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously...
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| Format: | Conference or Workshop Item |
| Language: | en |
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2015
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| Online Access: | http://eprints.utem.edu.my/id/eprint/14914/1/%5Bofficial%5D%20MERD%20Arman2015.pdf http://eprints.utem.edu.my/id/eprint/14914/ |
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| _version_ | 1832717012829208576 |
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| author | Azahar, Arman Hadi Chong, Shin Horng Mohamed Kassim, Anuar |
| author_facet | Azahar, Arman Hadi Chong, Shin Horng Mohamed Kassim, Anuar |
| author_sort | Azahar, Arman Hadi |
| building | UTEM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknikal Malaysia Melaka |
| content_source | UTEM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore, hopping peak height algorithm is designed and embedded into the closed loop control system feedback to determine the hopping peak of each produced hopping as a feedback. The existence of the hopping peak height algorithm assists the PI-CPG controller to converge the hopping height error approximately to zero. |
| format | Conference or Workshop Item |
| id | my.utem.eprints-14914 |
| institution | Universiti Teknikal Malaysia Melaka |
| language | en |
| publishDate | 2015 |
| record_format | eprints |
| spelling | my.utem.eprints-149142023-05-15T11:17:47Z http://eprints.utem.edu.my/id/eprint/14914/ Hopping peak height algorithm for a one legged robot hopping height control Azahar, Arman Hadi Chong, Shin Horng Mohamed Kassim, Anuar TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore, hopping peak height algorithm is designed and embedded into the closed loop control system feedback to determine the hopping peak of each produced hopping as a feedback. The existence of the hopping peak height algorithm assists the PI-CPG controller to converge the hopping height error approximately to zero. 2015-03 Conference or Workshop Item PeerReviewed text en http://eprints.utem.edu.my/id/eprint/14914/1/%5Bofficial%5D%20MERD%20Arman2015.pdf Azahar, Arman Hadi and Chong, Shin Horng and Mohamed Kassim, Anuar (2015) Hopping peak height algorithm for a one legged robot hopping height control. In: Mechanical Engineering Research Day 2015, 31 March 2015, Melaka. |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Azahar, Arman Hadi Chong, Shin Horng Mohamed Kassim, Anuar Hopping peak height algorithm for a one legged robot hopping height control |
| title | Hopping peak height algorithm for a one legged robot hopping height control |
| title_full | Hopping peak height algorithm for a one legged robot hopping height control |
| title_fullStr | Hopping peak height algorithm for a one legged robot hopping height control |
| title_full_unstemmed | Hopping peak height algorithm for a one legged robot hopping height control |
| title_short | Hopping peak height algorithm for a one legged robot hopping height control |
| title_sort | hopping peak height algorithm for a one legged robot hopping height control |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utem.edu.my/id/eprint/14914/1/%5Bofficial%5D%20MERD%20Arman2015.pdf http://eprints.utem.edu.my/id/eprint/14914/ |
| url_provider | http://eprints.utem.edu.my/ |