Experiments in Balance With a 2D One-Legged Hopping Machine

[+] Author and Article Information
M. H. Raibert

Department of Computer Science and The Robotics Institute, Carnegie-Mellon University, Pittsburgh, Pa. 15213

H. B. Brown

The Robotics Institute, Carnegie-Mellon University, Pittsburgh, Pa. 15213

J. Dyn. Sys., Meas., Control 106(1), 75-81 (Mar 01, 1984) (7 pages) doi:10.1115/1.3149668 History: Received January 13, 1983; Online July 21, 2009


The ability to balance is important to the mobility obtained by legged creatures found in nature, and may someday lead to versatile legged vehicles. In order to study the role of balance in legged locomotion and to develop appropriate control strategies, a 2D hopping machine was constructed for experimentation. The machine has one leg on which it hops and runs, making balance a prime consideration. Control of the machine’s locomotion was decomposed into three separate parts: a vertical height control part, a horizontal velocity part, and an angular attitude control part. Experiments showed that the three part control scheme, while very simple to implement, was powerful enough to permit the machine to hop in place, to run at a desired rate, to translate from place to place, and to leap over obstacles. Results from modeling and computer simulation of a similar one-legged device are described by Raibert [10].

Copyright © 1984 by ASME
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