Novel Control Algorithm for the Foot Placement of a Walking Bipedal Robot : Nuovo algoritmo di controllo per il posizionamento del piede di un robot bipedo, in: International Journal of Advanced Robotic Systems

Información general
Autor	Liu, Wanli; Zhankui, Wang; Guo, Meng
Publicado	InTech Open Access Publisher, 2013
Edición
Extensión
ISBN
Abstract	A novel control algorithm for the foot placement of walking bipedal robots is proposed which can output the optimal step time and step location to obtain a desired walking gait from every feasible robot state. The step time and step location are determined by approximating the robot dynamics with the 3D linear inverted pendulum model and analytically solving the constraint equations. Intensive simulation studies are conducted to check the validity of the theoretical results. The results of this study show that the proposed control algorithm can get the system to a desired gait cycle from every feasible state within a finite number of steps.

Collections

		Artículos en revistas
		2000 y posteriores

Superordinate work

International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004

Linked items

Documents:

International Journal of Advanced Robotic Systems

Permanent links

DMG-Lib		https://www.dmg-lib.org/dmglib/handler?docum=31036009
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31036009.html
PDF		Novel Control Algorithm for the Foot Placement of a Walking Bipedal Robot

Data provider

Univ. Cassino

http://webuser.unicas.it/weblarm/larmindex.htm

Administrative information

Time of publication		2013
License information		This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

Follow us

Newsletter

Novel Control Algorithm for the Foot Placement of a Walking Bipedal Robot : Nuovo algoritmo di controllo per il posizionamento del piede di un robot bipedo, in: International Journal of Advanced Robotic Systems

Información general