TRAJECTORY FOLLOWING CONTROL FOR OMNI-DIRECTIONAL WALKING OF A SIX-LEGGED ROBOT

被引：0
|
作者：
Uchida, Hiroaki [1 ]
Shiina, Noriyuki [1 ]
Kondoh, Hiroyuki [1 ]
机构：
[1] Kisarazu Natl Coll Technol, Dept Mech Engn, Kisarazu, Chiba 2920041, Japan
来源：
ADAPTIVE MOBILE ROBOTICS | 2012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：
This paper dealt with a control method for an achieving walking not to follow the desired angle of the rotating links between supporting phases. In this study, we verified the validity of LQI control method to control the position of the center of gravity and the yawing angle of the body. We examined the effectiveness of the proposed design method by 3D simulations where the reference orbit was semicircle and S-turns.
引用
收藏
页码：697 / 704
页数：8
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