Time-scaling control for an underactuated biped robot
نویسندگان
چکیده
منابع مشابه
Time-scaling control for an underactuated biped robot
This paper presents a control law for the tracking of a cyclic reference trajectory by an under-actuated biped robot. The robot studied is a five-link planar robot. The degree of under-actuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the robot is controlled, not the temporal evolution. To achieve this objective, we c...
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This paper presents a control la w for the tracking of an optimal reference trajectory by an underactuated biped robot. The degree of under-actuation is one during the single support phase. The control law is de ned in the following way. Only the geometric evolution of the robot is controlled, not its temporal evolution. To achiev e this objective, we consider a set of reference trajectories pa...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2003
ISSN: 1042-296X
DOI: 10.1109/tra.2003.808863