In this paper, a balance control scheme is introduced for hopping robots using neural networks. The control strategy uses a trade-off strategy to achieve both hip and body angle control simultaneously with a single controller, which yields reduced complexity. Hence, the proposed controller allows the hopping robot to track a pre-defined state trajectory in flight-phase despite its modeling uncertainties...
Financed by the National Centre for Research and Development under grant No. SP/I/1/77065/10 by the strategic scientific research and experimental development program:
SYNAT - “Interdisciplinary System for Interactive Scientific and Scientific-Technical Information”.