Balancing and hopping motion control algorithms for an under-actuated robot
The main contribution of this thesis is a new and simple angular momentum based control algorithm for balancing an under-actuated planar robot. The proposed controller is able to stabilize the robot at any unstable balanced configuration and to control the robot to follow motion trajectory commands. This controller is also capable of balancing the robot on a rolling contact. A modified version of the controller is used to control the robot during a single hop motion. The proposed planar...[Show more]
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