A Energy Based Controller for Vertical and Horizontal motion of a 2D one-legged hopping robot

Project for Elective in Robotics: Underactuated Robots, 2019-2020, Università Roma La Sapienza.

Approach

Our goal is to implement and simulate the robot model described in the following paper:

• Raibert, “Hopping in Legged Systems-Modeling and Simulation for the Two-Dimensional One-Legged Case”, IEEE Transactions on Systems, Man, and Cybernetics 1984".

Project status

Completed

Founded many typos in the paper. Contact me if you need.

Running the test

run the init_ .m script
animation is generated using animation.m script in utils

Video Demo

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Team

• Michele Ciciolla

• Fabian Lopez Chamorro

• Josè Bustamante Julca

Documentation

You can read our final technical documentation about this project here DOCUMENTATION

References

• [1] Raibert, “Hopping in Legged Systems-Modeling and Simulation for the Two-Dimensional One-Legged Case”, IEEE Transactions on Systems, Man, and Cybernetics 1984"
• [2] Thesis : "VERTICAL CONTROL FOR AN ONE-LEGGED HOPPING ROBOT", LIJUN LI, 2008