Modelling and control of a biped robot *
نویسندگان
چکیده
منابع مشابه
Walking 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 کاملDynamic Control Algorithm for a Biped Robot
A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a 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 smooth transition...
متن کاملAdvanced Control of Biped Robot Motion
Next generation robots will be required to operate alongside people in complex environments that are primarily designed for humans. Humanoid robots present themselves as the logical choice for such tasks. In order to successfully navigate within human environments, humanoid robots require complex dynamic movements with robust balance maintenance on uneven terrain and during unexpected balance d...
متن کاملDesign, Modeling and Control of a Biped Line-Walking Robot
39 ISSN 1729‐8806, pp. 41‐50 Design, Modeling and Control of a Biped Line-Walking Robot Ludan Wang1, Fei Liu1, Shaoqiang Xu1, Zhen Wang1, Sheng Cheng1 and Jianwei Zhang1,2 1Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Kunshan, China 2TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany [email protected] Abstract: The subject of t...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2004
ISSN: 1474-6670
DOI: 10.1016/s1474-6670(17)32067-0