Variable Compliance Control for 3 Dimensional Biped Robot considering Environmental Fluctuations
نویسندگان
چکیده
منابع مشابه
Walking and steering control for a 3D biped robot considering ground contact and stability
The walking of a bipedal robot is composed of different phases such as single support (SS) with flat foot, SS with foot rotation around the metatarsal axis and double support. During every walking phase there is a dynamic model and a contact with the ground. Thus, an appropriated control law has to be implemented for each phase. Generally, the type of contact with the ground is imposed but it i...
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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...
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For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with for...
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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: IEEJ Transactions on Industry Applications
سال: 1999
ISSN: 0913-6339,1348-8163
DOI: 10.1541/ieejias.119.1507