An integrated control for a biped walking robot
نویسندگان
چکیده
منابع مشابه
A Integrated Control for a Biped Walking Robot
The main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing a neural network, which updates onlin...
متن کاملWalking trajectory control of a biped robot
A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smoot...
متن کاملPlanning walking patterns for a biped robot
Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
متن کاملVirtual Model Control of a Biped Walking Robot
The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces. which are applied throug...
متن کاملNonlinear Feedback Control of a Biped Walking Robot
An implemen ta t ion of a biped robot which as capable of dynamic walking by a s imple nonl inear control algorithm. i s presented. Four D.C. servo mo tors actuate the knee and ankle jo in t s of the legs of t he robot. T h e biped i s constrained to the sagital p lane , and the m o t i o n generation is reduced to a problem of controlling the pos i t ion and velocity of the robot’s center of g...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Brazilian Society of Mechanical Sciences and Engineering
سال: 2006
ISSN: 1678-5878
DOI: 10.1590/s1678-58782006000400010