CONTROLLER DESIGN FOR AN UNDERACTUATED BIPED WALKING ROBOT

被引：0

作者：

Hou, Wenqi ^{[1
]}

Chen, Yangzhen ^{[1
]}

Zhang, Taihui ^{[1
]}

Wang, Zhijun ^{[1
]}

Ma, Hongxu ^{[1
]}

机构：

[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Deya Rd 109 Kaifu Dist, Changsha 0731, Hunan, Peoples R China

来源：

ASSISTIVE ROBOTICS | 2016年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we aim at realizing stilt-like biped walking. With the assumption that the Jacobian of task space is full row rank during the single support phase, the dynamics in task space is presented with the Moore-Penrose pseudo-inverse. Considering the inevitable parameter estimation errors, we design a task space controller without calculating the inversion of inertial matrix. We demonstrate the stability of the controller by Lyapunov method. With the designed the controller, we realized stilt-like biped walking on a virtual planar biped walker. The contact consistency is preserved during the biped walking.

引用

页码：413 / 421

页数：9

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