Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/9760
Título: Towards Force Interaction Control of Biped Walking Robots
Autor: Silva, F. M.
Machado, J. A. Tenreiro
Palavras-chave: Biped walking robots
Nonlinear control systems
Legged locomotion
Data: 2004
Editora: Institute of Electrical and Electronics Engineers
Resumo: This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The walking cycle is divided in two phases: single support, in which one leg is in contact with the ground and the other leg swings forward, and double support, in which the forward leg absorbs the impact and gradually accepts the robot’s weight. The contact of the foot with the constrained surface is modelled through nonlinear spring-damper systems. The proposed control approach is based on simple motion goals taking into account the reaction forces between the feet and the ground. The control algorithm is tested through several experiments and its robustness is discussed.
URI: http://hdl.handle.net/10400.22/9760
DOI: 10.1109/IROS.2004.1389795
Versão do Editor: http://ieeexplore.ieee.org/document/1389795/
Aparece nas colecções:ISEP – DEE – Comunicações em eventos científicos

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