Dynamic model and control for biped Robot

  • Nguyen Quoc Chi
  • Duong Mien Ka
  • Chung Tan Lam
  • Le Hoai Quoc

Abstract

In this paper, a control method for a nonlinear model of a 7 DOF biped robot is discussed. The Walking gait is generated by controlling the position of the trunk of the robot to track a desired trajectory which based on analyzing the dynamics of a three dimensional inverted pendulum. The motion of a three dimensional inverted pendulum is constrained to move along a defined plane. One challenge in motion control of biped walking is high nonlinearities of the dynamics and inaccuracy of the parameters in the biped model. ‎
điểm /   đánh giá
Published
2008-07-23
Issue
Vol. 11 No. 3 (2008)
Section
ARTILES
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