Balancing on a Springy Leg
Juan D. Gamba Roy Featherstone Juan D. Gamba Roy Featherstone
This paper presents a simulation study of the problem of balancing a planar double pendulum in which the lower body (the leg) has been modified to include a spring-loaded passive prismatic joint. Robots of this kind can travel by hopping, and can also stand and balance on a single point. The purpose of this study is to investigate the degree to which a balance controller can cope with the large an...