TY - GEN
T1 - Feedback control experiments with the parkourbot
AU - Longx, A.
AU - Degani, A.
AU - Lynchx, K.
PY - 2012
Y1 - 2012
N2 - The ParkourBot is a planar dynamic climbing biped robot and is capable of dynamically locomoting between two vertical" walls in a reduced-gravity planar environment of an inclined air table. During flight, springy legs are compressed to store elastic energy. At impact, this potential energy is quickly converted to kinetic energy. In this paper, we demonstrate that simple feedback control strategies with a high-speed vision system can be used to control the Parkour- Bot to bounce in place, climb up and climb down.
AB - The ParkourBot is a planar dynamic climbing biped robot and is capable of dynamically locomoting between two vertical" walls in a reduced-gravity planar environment of an inclined air table. During flight, springy legs are compressed to store elastic energy. At impact, this potential energy is quickly converted to kinetic energy. In this paper, we demonstrate that simple feedback control strategies with a high-speed vision system can be used to control the Parkour- Bot to bounce in place, climb up and climb down.
UR - http://www.scopus.com/inward/record.url?scp=84891361592&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84891361592&partnerID=8YFLogxK
U2 - 10.1142/9789814415958_0053
DO - 10.1142/9789814415958_0053
M3 - Conference contribution
AN - SCOPUS:84891361592
SN - 9789814415941
T3 - Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
SP - 409
EP - 416
BT - Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
PB - World Scientific Publishing Co. Pte Ltd
T2 - 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
Y2 - 23 July 2012 through 26 July 2012
ER -