Walking with perturbations: a guide for biped humans and robots
نویسندگان
چکیده
منابع مشابه
A Fast and Smooth Walking Pattern Generator for Biped Robots
In order to solve inverse kinematics of a multi-DOF (degree of freedom) mechanism, many methods have been proposed with the Jacobian linearization method. When solving inverse kinematics problems of the biped robot with this method, long computation time is required since the Jacobian matrix should be updated in order to solve the configuration for each different end-effector trajectory knot. I...
متن کاملRobust Motion Control of Biped Walking Robots
This paper proposes a robust mathematical approach for motion control. The proposed control technique is applied to a three-degree of freedom Biped walking robot for illustration. The design technique is divided into two major steps; the first one is to establish a robust position control scheme with both guaranteed stability and trajectory tracking capability using a model-reference technique ...
متن کاملFuzzy Nonlinear Controller for Stable Walking of Biped Robots
ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....
متن کاملControl Algorithm for Stable Walking of Biped Robots
This paper deals with the stable walking of biped robots. The presented control algorithm enables a biped to perform stable walking without using any precomputed trajectories. The algorithm merges gait trajectory generation and control, and can be used for global control, for local control along an existing trajectory as well as for online computation of gait trajectories for stable walking. Th...
متن کاملFuzzy Partial Feedback Linearization for Stable Walking of Biped Robots
ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Bioinspiration & Biomimetics
سال: 2018
ISSN: 1748-3190
DOI: 10.1088/1748-3190/aada54