Abstract
The work presented in this paper describes a robotic hopper that uses a bounded energy, phase oscillator controller. It exhibits exceptional stability when given disturbances. The controller uses a phase angle to regulate the forcing function, creating a parametric oscillator. In this paper we include simulated and experimental data for analysis of the hopper.
Original language | English (US) |
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Title of host publication | 38th Mechanisms and Robotics Conference |
Publisher | American Society of Mechanical Engineers (ASME) |
Volume | 5B |
ISBN (Electronic) | 9780791846377 |
DOIs | |
State | Published - 2014 |
Event | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States Duration: Aug 17 2014 → Aug 20 2014 |
Other
Other | ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 |
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Country/Territory | United States |
City | Buffalo |
Period | 8/17/14 → 8/20/14 |
ASJC Scopus subject areas
- Modeling and Simulation
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design