Optimal high-jump control of linear 1-d.o.f trampoline robot

Yutaka Saitou; Tomoaki Nagano; Takashi Seki; Masato Ishikawa; Shinji Hara

doi:10.11499/sicep.2002.0.557.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.557.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Optimal high-jump control of linear 1-d.o.f trampoline robot

Yutaka Saitou, Tomoaki Nagano, Takashi Seki, Masato Ishikawa, Shinji Hara

Author information

Keywords: hybrid system, jumping robot, optimal control

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 557

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Abstract

This paper presents development and high-jump control of a trampoline robot via hybrid optimal control approach. We show an efficient modeling method based on a linear complementarity system framework, and propose a Differential Dynamic Programing based algorithm to solve the high-jump control problem by using the Sussmann’s maximum principle. Experimental results match to numerical results quite well.

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