Dynamic control of a biped walking robot

被引：0
|
作者：
Löffler, K [1 ]
Gienger, M [1 ]
Pfeiffer, F [1 ]
机构：
[1] Tech Univ Munich, D-85747 Garching, Germany
来源：
ZEITSCHRIFT FUR ANGEWANDTE MATHEMATIK UND MECHANIK | 2000年 / 80卷
关键词：
D O I：
暂无
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
The project of a two-legged walking robot is presented. For this system a nonlinear control scheme is proposed that is based on the method of feedback linearization. In order to allow for a "dynamically" stable motion, the reference trajectories are computed so Mat the system remains controllable throughout the entire gait cycle. In simulations the robot is controlled in a running motion, including phases without ground contact. The simulation results show the good performance of the control strategy in a purely dynamic motion.
引用
收藏
页码：S357 / S358
页数：2
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