Demonstrates vertical jumping stability in a resonance hopping robot, suggesting efficient control methods.
In the paper vertical movements of resonance hopping robot with one leg and electric drive are considered. Special construction of hopping robot with compensation of losses during flight of the robot allows to employ a relatively simple control system as well as to get a stable regime of its operation. The designed robot has self-properties to maintain a specified height of jumping even with simple control system. Results of dynamical calculations, simulations and experimental testing are presented.
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Akinfiev et al. (2003) studied this question.
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