Biped robot locomotion in the sagittal plane

被引：17
|
作者：
MedranoCerda, GA
Eldukhri, EE
机构：
[1] Department of Electronic and Electrical Engineering, University of Salford
来源：
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 1997年 / 19卷 / 01期
关键词：
biped robot; legged locomotion; balancing control;
D O I：
10.1177/014233129701900104
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes the control system for an eight-degree-of-freedom biped robot built at the University of Salford. The controller enables the robot to walk in the sagittal plane on smooth level terrain and is essentially an observer-based controller utilising state feedback, integral action and feedforward control. The robot posture is controlled by selecting constant reference set points for the control system. Locomotion is achieved by suitably modifying the reference set points. The robot walks with a step length of approximately 0.3 m and a speed of about 0.03 m/s.
引用
收藏
页码：38 / 49
页数：12
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