标题：A Control Scheme for Single Legged Hopping Robot Based on Fuzzy PD Algorithm
作者：Qu, Daoxiao ;Zheng, Yukun ;Guo, Jiaxin ;Song, Rui
作者机构：[Qu, Daoxiao ;Zheng, Yukun ;Guo, Jiaxin ;Song, Rui ] College of Control Science and Engineering, Shandong University, Jinan, China
会议名称：4th IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2020
会议日期：12 June 2020 through 14 June 2020
来源：Proceedings of 2020 IEEE 4th Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2020
关键词：dynamic modeling; fuzzy PD control; hopping robot; spring loaded inverted pendulum
摘要：In this paper, a stable jumping control scheme of a single leg is presented, which uses fuzzy PD control to realize self-tuning parameters and is based on the spring loaded inverted pendulum (SLIP) model. For different constraints, this paper constructs the dynamic models of the flight and stance phase respectively through Lagrangian algorithm. The constraint relationship between the leg and the ground contact force is analyzed, and the comprehensive parameter analysis is carried out. According to the different dynamic model, the corresponding controller is built for servo control, and the fuzzy PD control is added to realize the self-tuning of controller parameters. The simulation results show that the control algorithm proposed in this paper can effectively realize the stable jumping of the single legged robot, and can optimize the parameters. © 2020 IEEE.