Research and development on motion control for one legged type hopping robot

Anuar , Mohamed Kassim (2011) Research and development on motion control for one legged type hopping robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

In half of century, there are a lot of types of autonomous locomotion robot which have been explored. Most of mobile robots are wheeled type locomotion because of the simplicity in robot construction. The wheeled type locomotion excels on prepared surface such as rails and roads, but most of them have not yet been explored. As a result, the study on animal-like robot locomotion i.e. in multi legged, snake-like, bipedal walking and hopping robot has been received much attention from many researchers because of the adaptive locomotion on unknown surface which are frequently faced by mobile robots in real-life environment. The construction of usefullegged type locomotion need the systems that able to control joint motion, cycle use of legs, monitor and manipulate balance,generate motions to use known footholds, sense the terrain to find good footholds and calculate negotiable footholds sequences. However, from almost of legged type robots which have been developed are having low energy efficiency and low transferring efficiency while moving performances because of their difficulties on mechanism and control systems. Consequently, study on jumping type robot was carried out although it has complex control system. The jumping type locomotion can be divided into two types which are hopping and jumping type robot. The big difference of hopping and jumping type robot is jumping robot can make only one big jump moving performance. In contrast,the hopping robot can generate the continuous and rhythmical jumping performance while making movement. Generally, the hopping robot can be used for searching the lost victims who need help instantly. Therefore, it can be applied in rescue activities. Recent years, the ultimate disasters are becoming worse such as earthquake, landslide and etc. On the other hand, it also can be used for surveillance activities such as in the estate, forest and outer space such as moon surface.

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