Browsing by Issue Date, starting with "2001-05-21"
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- Goal-oriented biped walking based on force interaction controlPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper addresses the problem of modelling and control of 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, double support, in which the foward leg absorbs the impact and gradually accepts the robot's weight. The contact of the foot with the constrained surface is modelled through linear and 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 effectiveness and robustness is discussed.
- A Fourier perspective in multi-legged systemsPublication . Rodrigues, Carlos M. B.; Tenreiro Machado, J. A.This paper analyses periodic gaits of multi-legged locomotion systems. The joint signals are studied in the Fourier domain, namely from the point of view of its reproducibility through low-pass actuators. The influence of several parametrs is also considered and their critical values are investigated.