Control Strategy for the Robust Dynamic Walk of a Biped Robot
نویسندگان
چکیده
This paper presents the main simulation and experimental results from studies of the robustness of a proposed new control strategy for the under-actuated robot RABBIT. The disturbances studied include modifications of the characteristics of the foot/ground interaction and the application of external forces to the trunk of the robot. These two kinds of disturbance correspond to those most frequently encountered by biped robots during walking in an unknown environment. KEY WORDS—under-actuated biped robot, dynamic walking gait, CMAC neural networks, robustness
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ورودعنوان ژورنال:
- I. J. Robotics Res.
دوره 25 شماره
صفحات -
تاریخ انتشار 2006