Publication
Position/force control of biped walking robots
| dc.contributor.author | Silva, Filipe M. | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.date.accessioned | 2019-04-04T13:53:30Z | |
| dc.date.embargo | 2101 | |
| dc.date.issued | 2000-10-08 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | 10.1109/ICSMC.2000.886512 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13395 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Institute of Electrical and Electronics Engineers | pt_PT |
| dc.relation.publisherversion | https://ieeexplore.ieee.org/document/886512 | pt_PT |
| dc.subject | Legged locomotion | pt_PT |
| dc.subject | Motion control | pt_PT |
| dc.subject | Gait analysis | pt_PT |
| dc.subject | Position control | pt_PT |
| dc.subject | Force control | pt_PT |
| dc.title | Position/force control of biped walking robots | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Nashville, Tennessee, USA | pt_PT |
| oaire.citation.endPage | 8 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | IEEE International conference on systems, man & cybernetics | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | closedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |