Spring Loaded Inverted Pendulum Single Legged Hopping Robot

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LocaAng point on known grid

• Locate random point

between 4 known points for

which we know the angle

range for (.05 intervals)

y

P(dx,y) = (6.54, 1.57)

dx

• Choose the middle point of

the range in order to have an

angle that will allow a

successful jump.

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For each set of points (dx, y), we know the degree span we can use Height (m) Forward velocity, dx (m/s)

LocaAng point on known grid • Locate random point between 4 known points for which we know the angle range for (.05 intervals) y P(dx,y) = (6.54, 1.57) dx • Choose the middle point of the range in order to have an angle that will allow a successful jump.

Page 1 and 2: Spring Loaded Inverted Pendulum Sin
Page 3 and 4: Spring-Loaded Inverted Pendulum(SLI
Page 5: Height (m) IniAal CondiAons: x = 0
Page 9 and 10: Height = 1.57 (m) Velocity = 6.54 (
Page 12: Gaussian normal distribuAon on sens
Page 16 and 17: Summary • Defined equaAons of moA
Page 18: Future Work: Implement an actuator

Spring Loaded Inverted Pendulum Single Legged Hopping Robot

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