Robotic hopper using phase oscillator controller

Philip New, Chase Wheeler, Thomas Sugar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

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 languageEnglish (US)
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5B
ISBN (Electronic)9780791846377
DOIs
StatePublished - 2014
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: Aug 17 2014Aug 20 2014

Other

OtherASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
CountryUnited States
CityBuffalo
Period8/17/148/20/14

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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