Research On Motion Control Of One-Legged Hopping Robot

One-Legged Hopping Robot is one of the bionics robots .its main research areas are copy the movement of animals' bones and muscles, to achieve the movement of animals simulation purposes. At present bio-robot research mainly concentrated in the wheel (tracked) and crawling robot. Compared with the two robots, One-Legged Hopping Robot can jump in the barrier with higher efficiency, speed and flexibility. By jumping movement it can leap relatively large obstacles to the more complex terrain environment agilely.The hopping robot is actuated by two arms, and includes an elastic, telescopic, unactuated leg. Motion of the one-legged robot such as balance in stance dynamically, lift-off stably, hopping continuously depend on the coupling of the dynamic of the system. For this kind of variable restraints system, kinematic and dynamic analysis was made .algorithm is proposed for hopping control in vertical direction based on nonlinear transformation of inputs.This paper first analysis the One-Legged Hopping Robots' characteristics of the mechanical structure, establish a dynamic model of the robots.And then, we simulated the model of the robot obtain the control algorithm of standing balance motion contro. By analyzing the relevant simulation results, we proposed performance requirements of the control system, as well as the need to achieve a few key technologies.Then, the design on TI DSP (Digital Signal Processor) based TMS320F2812 controller under systemwas proposed. The specific design of the hardware is also proposed of. Some of the key algorithms and the achievement of key technologies control system related to the program are given as well.Finally, the control system experimental research on the balance of the standing of One-Legged Hopping Robot was made. The experiment results were also discussed.The research work is mainly on the combination of hardware and theoretical of control system. Future effort will be devoted to the development of the theory of control system and to restructure the control software based on a multithread platform.