Nonlinear Feedback Control of a Biped Walking Robot.

DOI DOI Web Site 1 Citations 7 References Open Access

Bibliographic Information

Other Title
  • 非線形フィードバックによる二足歩行ロボットの制御
  • ヒセンケイ フィードバック ニヨル ニソク ホコウ ロボット ノ セイギョ

Search this article

Description

An implementation of a biped robot which is capable of dynamic walking by a simple nonlinear control algorithm is presented. Four D.C. servo motors actuate the knee and ankle joints of the legs of the robot. The biped is constrained to the sagital plane, and the motion generation is reduced to a problem of controlling the position and velocity of the robot's center of gravity. They are controlled by a nonlinear feedback controller, based on a simple feedback linearization method. Several design issues including mechanical structure, leg actuation, and control system of the robot are discussed. Experimental results demonstrate the effectiveness of the algorithm.

Journal

Citations (1)*help

See more

References(7)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top