Walking Control of a Biped Robot by Impedance Control
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...
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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...
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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 کاملA 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...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Industry Applications
سال: 1997
ISSN: 0913-6339,1348-8163
DOI: 10.1541/ieejias.117.1227