Abstract
A feature of all jumping robots is the presence of a flight phase. During this phase, the robot’s control system has limited capabilities to correct the robot’s trajectory. This imposes a problem of finding a robot motion and control law for the acceleration phase (while the robot still is in contact with the ground, and it can be considered to be fully actuated), as well for the duration of the takeoff such that it would be possible to perform the desired motion of the robot and to achieve the desired results in terms of the robot’s motion. In this paper, this problem is solved by forming the desired trajectory for a mass center of the robot during the robot acceleration phase. The mass center trajectory during the acceleration phase is formulated to allow the robot to reach a certain velocity at the time of takeoff. Furthermore, the velocity vector of a mass center should be directed in a certain way. The robot control system was developed to provide such movement trajectory. This control system is based on the modified linear quadratic regulator (LQR). The study revealed the presence of six modes of acceleration at varying control parameters: During some modes, robot has contact with a supporting surface at two points which are stationary or sliding on a supporting surface; during other modes, one of two points loses contact with a supporting surface or a overturn occurs (when a robot takeoff occurs in first moments of acceleration).
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The work was carried out within the RFBR project № 18-31-00075.
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Vorochaeva, L., Malchikov, A., Bezmen, P. (2020). Study of the Jumping Robot Acceleration Modes. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_9
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DOI: https://doi.org/10.1007/978-981-13-9267-2_9
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