Generalizing the Hop: Object-Level Programming for Legged Motion
IOWA UNIV IOWA CITY DEPT OF COMPUTER SCIENCE
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This paper presents a model-independent method for controlling a hopping robot. The approach focuses on the interaction between the hopper and its surrounding at points of contact. It is only through reactions at contact points that a hopper can alter its momenta. A generalization of the virtual leg abstraction allows control programs to be expressed as constraints on the external forces and torques acting on the hopper. The relationship between the nature external contacts and motion control strategies is investigated. The results of simulations for a variety of hoppers are presented.
- Computer Programming and Software