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Observer design for apex height and vertical velocity of a single-leg hopping robot during stance phase

Published online by Cambridge University Press:  06 October 2021

Ashish Prakash Open the ORCID record for Ashish Prakash [Opens in a new window]  and
Gagan Deep Meena Open the ORCID record for Gagan Deep Meena [Opens in a new window]
Ashish Prakash
Affiliation:
Electrical Engineering, National Institute of Technology Patna, Bihar800005, India, www.nitp.ac.in
Gagan Deep Meena*
Affiliation:
Electrical Engineering, National Institute of Technology Patna, Bihar800005, India, www.nitp.ac.in
*
*Corresponding author. E-mail: gagandeep.ee@nitp.ac.in
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Abstract

This article proposes an observer design for two important variables in the studies of single-leg hopping robot (SLHR), the apex height, and the vertical velocity of SLHR during its stance phase. At first, the Euler–Lagrange (EL) dynamics of SLHR are obtained and apex height is identified in the state-space representation of the EL dynamics. Apex height is the state variable that represents the robot body’s height at the top point, which keeps on changing as the robot functions. Vertical velocity is the velocity of the robot in the vertical direction. An observer design is presented in this article which will estimate these variables when required. The quality of the estimation is validated by the simulation results where the estimation error is zero which means the model output is correct and observer performance is good.

Keywords

SLHREuler–Lagrange dynamicsObserver designApex heightHopping
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1868 - 1879
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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