Investigation of Recent Development on Biped Walking Robot
نویسندگان
چکیده
منابع مشابه
Simulations on Motion Control and Development of Biped Walking Robot
Abstract—The purpose of this research is to make the biped walking robot walk considering the theory of passive walking. Two motors were installed at the hip joints connecting both legs to torso link. The numerical calculations about walking motion were performed. The proportional (P) or proportionaldifferential (PD) control law was used in the calculations. The experimental robot has been bein...
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Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is exten...
متن کاملDevelopment of a Biped Walking Robot with Antagonistic Actuation
This research was intended at developing a biped walking robot with antagonistic actuation for realizing stable walking motion. A three-linked planar-type walking robot was developed on the basis of the model of a semipassive walking robot. An antagonistic actuation mechanism based on the human musculoskeletal structure was applied to the hip joint of the developed walking robot. The antagonist...
متن کاملResearch and Development Towards an Autonomous Biped Walking Robot
Abstract Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hardand software architecture for an autonomous biped, and experimental...
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...
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ژورنال
عنوان ژورنال: Journal of the Japan Society for Precision Engineering
سال: 2011
ISSN: 0912-0289,1882-675X
DOI: 10.2493/jjspe.77.453