Shin Horng Chong

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– Pneumatic Artificial Muscle (PAM) overcome the other common actuators as it has higher power-to-weight ratio. However, the air compressibility and lack of damping ability of PAM brings dynamic delay to the pressure response and causes oscillatory motion to occur. It is not easy to realize the motion with high accuracy and high speed due to all the(More)
– This paper presents the hopping peak height algorithm in controlling the hopping height of a one legged hopping robot. The hopping mechanism produces continuous and rhythmic pattern. The continuous and rhythmic pattern behaviors produce oscillation feedback to the closed loop system and continuously produce oscillation error to the controller. Therefore,(More)
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