Hybrid Position/force Algorithms for Biped Locomotion
نویسندگان
چکیده
This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete walking cycle is divided in two phases: i) single support in which it is studied the trajectory controllability based on simple motion goals and ii) exchange of support in which the forward leg should absorb the impact and then gradually accept the robot’s weight. The contact of the foot with the constrained surface is modelled through linear spring-damper systems. The control algorithms are simulated and their effectiveness and robustness are discussed. Copyright 2000 IFAC
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تاریخ انتشار 2000