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Position/force control of biped walking robots
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Orientador(es)
Resumo(s)
This paper addresses the problem of modelling and control of 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 foward leg absorbs the impact and then gradually accept the robot's weight. The control of the foot with the constrained surface is modelled through linear spring-damper systems. The system's controllability is enhanced through the insertion of a dynamic selection matrix that modifies the actuating profile in each phasse. The control algorithms are simulated and their effectiveness and robustness are discussed.
Descrição
Palavras-chave
Legged locomotion Motion control Gait analysis Position control Force control
Contexto Educativo
Citação
Editora
Institute of Electrical and Electronics Engineers