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

页码：601 / 605

页数：5

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