Control of a biped jogging robot

被引：2
|
作者：
Löffler, K [1 ]
Gienger, M [1 ]
Pfeiffer, F [1 ]
机构：
[1] Tech Univ Munich, Lehrstuhl Mech B, D-85748 Garching, Germany
来源：
6TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2000年
关键词：
D O I：
10.1109/AMC.2000.862949
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The project of a two-legged walking robot is presented. The control system is based on a nonlinear control scheme using the method of feedback linearization. Special effort has been devoted to the trajectory generation which is computed such that the system remains controllable throughout the entire gait cycle. The controller and simulation algorithm have been implemented parametrically. Parameter studies have been performed which lead to the final design. The mechanical design with particular emphasis on actuators and sensors is presented.
引用
收藏
页码：601 / 605
页数：5
相关论文
共 50 条
  • [31] Modeling and Control of a Wheeled Biped Robot
    Cui, Zemin
    Xin, Yaxian
    Liu, Shuyun
    Rong, Xuewen
    Li, Yibin
    MICROMACHINES, 2022, 13 (05)
  • [32] Development of a speech interface for control of a biped robot
    Dwivedi, S
    Dutta, A
    Mukerjee, A
    Kulkarni, P
    RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS, 2004, : 601 - 605
  • [33] Observer-based control of a biped robot
    Lebastard, V
    Aoustin, Y
    Plestan, F
    ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2004, : 67 - 72
  • [34] Control System of Biped Robot Balancing on Board
    Bazylev, Dmitry
    Kremlev, Artem
    Margun, Alexey
    Zimenko, Konstantin
    2014 19TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2014, : 794 - 799
  • [35] Modeling and Control for a Biped Robot on Uneven Surfaces
    Li, Jian
    Chen, Weidong
    PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 2960 - 2965
  • [36] Adaptive Excitation Control for the Underactuated Biped Robot
    Liu, Limei
    Jiang, Hong
    Li, Jianfei
    Tian, Yantao
    Yang, Mao
    2012 INTERNATIONAL CONFERENCE ON FUTURE ELECTRICAL POWER AND ENERGY SYSTEM, PT B, 2012, 17 : 1667 - 1674
  • [37] Walking planning and control for a biped robot upstairs
    Yin, Chenbo
    Zheng, Donghua
    Xiao, Le
    ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1, 2008, : 133 - +
  • [38] Tip over avoidance control for biped robot
    Qing, Tang
    Rong, Xiong
    Jian, Chu
    ROBOTICA, 2009, 27 : 883 - 889
  • [39] Impedance control system for a biped skating robot
    Li Jinliang
    Bao Jihua
    Yu Yan
    SENSORS, MEASUREMENT AND INTELLIGENT MATERIALS II, PTS 1 AND 2, 2014, 475-476 : 693 - 696
  • [40] Incremental fuzzy control for a biped robot balance
    Cuevas, E
    Zaldívar, D
    Rojas, R
    PROCEEDINGS OF THE SIXTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS, 2005, : 7 - 12
12345