Thesis (M.Sc.) - Cairo University - Faculty of Engineering - Department of Electrical Power and Machines

The thesis presents a control method for controlling the forward speed and hopping height of a double actuated planar single legged hopping robot (SLHR). A full representation of SLHR dynamic performance under the effect of its passive components within appropriate selected initial conditions is shown. The thesis also discusses a method of selecting these initial values based on simple ballistic equations. It is also discussing the steps for developing SLHR dynamic model under the effect of theoretical assumptions and practical assumptions. Two types of control algorithms are used to control both actuated robot joints. The first robot joint is the hip revolute joint which is connecting the robot body to its leg. The second robot joint is the knee springy prismatic joint which is connecting the leg to its toe. The first hip joint is controlled using PD control algorithm to force it for either tracking the desired trajectory or settling at specified set points. The stability analysis of the PD controller effect on the robot is discussed using Lyapunov stability analysis. The second knee joint is controlled using an energy based controller to control the provided thrust force for the robot to reach its desired apex height

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