Feedback control experiments with the parkourbot
Long, A., Degani, A. & Lynch, K.
Adaptive Mobile Robotics
Tipo de publicación
artículo de revista
The ParkourBot is a planar dynamic climbing biped robot and is capable of dynamically locomoting between two "vertical" walls in a reduced-gravity planar environment of an inclined air table. During flight, springy legs are compressed to store elastic energy. At impact, this potential energy is quickly converted to kinetic energy. In this paper, we demonstrate that simple feedback control strategies with a high-speed vision system can be used to control the Parkour-Bot to bounce in place, climb up and climb down