HOPPING MACHINE: A TOOL FOR HUMAN RUNNING SIMULATION AND FOR LEGGED ROBOTS AND EXOSKELETON DESIGN

摘要

This paper presents a 3 DOF (Degrees Of Freedom) planar hopping machine running in a simulation software environment. The purpose is to use this approach to study the control, simulation and design of legged robots and exoskeletons. The control system allows the machine hopping in place after fall with his leg a little inclined, then hopping forward, then hopping backward and then stop hopping in place. Hopping machines are the most simplified dynamic model capable of representing the elastic behaviour of the legs of mammals and insects in running and hopping. The results of the simulation presented shown that pelvic tilt observed in human running is also observed in the hopping machine running model. This encourages the modelling of anthropomorphic legs for use in human running simulations with hopping machine models and control strategies.