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Journal of Automation and Information Sciences

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Journal of Automation and Information Sciences


15 pages

Control of Movement of Hopping Devices

Vladimir B. Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
Vladimir M. Matiyasevich
Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine

ABSTRACT

Flat model of a hopping vehicle and two its modifications are considered. Both modifications have two legs. The body of the vehicle is considered to be rigid. In the models both legs are assumed to be inertial. The effort in a stance leg develops by compressing a spring built in a leg. The main executive mechanism of a leg is a direct current motor. The selection of a program mode of motion of such devices is reduced to a problem of nonlinear programming. Synthesis of a system of stabilization is based on the stabilizing solution of a discrete periodic Riccati equation.