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《China Mechanical Engineering(中国机械工程)》 2008-14
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Research on Take-off Posture Optimization for Hopping Robot

Xu Zhaohong Lü Tiansheng Wang Xuyang Liu Jie Shanghai Jiao Tong University,Shanghai,200240  
Based on floated-basis space,variable constraint dynamics equation of jumping robot was found.Hopping robots can be regarded as a redundant manipulator with a load held at the end-effector.This paper optimized take-off posture of hopping robot by applying inertia matching ellipsoid and directional manipulability.Numerical simulations and trials show inertia matching ellipsoid corresponds to the robot's hopping height.Inertia matching ellipsoid is a valid method to posture optimization for take-off motion.
【CateGory Index】: TP242.1
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