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Control of a planar, one legged hopping robot model on rough terrain


M. Rutschmann

Master Thesis HS 11 (10049)

This thesis is based on the design of a planar, one legged hopping robot created by the Robotics Laboratory at UCSB (University of California Santa Barbara). For the purpose of controlling the robot on rough terrain, simpli ed dynamical models of the hopper are developed and analyzed. In the second part nonlinear model predictive control is used to enable the robot model to hit a sequence of desired footholds. Simulations show that the used control architecture enables the models to hit the desired footholds accurately while maintaining a stable hopping gate. 3


Type of Publication:

(12)Diploma/Master Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2011:IFA_4121
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