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Nonlinear Model Predictive Running Control of Kangaroo Robot: a One-Leg Planar Underactuated Hopping Robot

Abstract : The control of dynamically stable hopping robots has made great progress in the last decades. This paper deals with modeling and control of Kangaroo hopping robot. It is a one-leg planar hopping robot which imitates the mode of displacement of kangaroos. Lagrangian dynamic model of the hopping robot is computed on the different phases of the jumping cycle. A new control scheme is proposed to control the leg thrust during stance phase for planar hopping. A nonlinear model predictive control has been combined with Raibert's approach which has improved significantly its performances. A simulator has been developed to simulate the behavior of the controlled robot. The proposed control approach is validated in simulation and is compared with Raibert's approach.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00544726
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Submitted on : Wednesday, December 8, 2010 - 5:20:14 PM
Last modification on : Tuesday, December 17, 2019 - 2:10:58 AM
Long-term archiving on: : Thursday, March 10, 2011 - 12:48:09 PM

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Nicolas Carlési, Ahmed Chemori. Nonlinear Model Predictive Running Control of Kangaroo Robot: a One-Leg Planar Underactuated Hopping Robot. IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. pp.3634-3639, ⟨10.1109/IROS.2010.5648972⟩. ⟨lirmm-00544726⟩

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