Cart (Loading....) | Create Account
Close category search window
 

Motion control of a novel planar biped with nearly linear dynamics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Agrawal, S.K. ; Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA ; Fattah, A.

In this paper, we propose the design of a planar biped for which the model is nearly linear, i.e., the inertia matrix is a constant and the gravity terms in the equations of motion are still nonlinear, but simplified. The legs are designed such that the inertia matrix is independent of the joint variables. As a result, the nonlinear terms in the centrifugal and Coriolis terms disappear. In this design, each leg has two links that are connected by a revolute joint at the knee. The two legs are connected to each other at the hip. The center of mass of each leg is located at the hip, using counterweights. We assume that the stance leg is locked at the knee during the support phase. For this system, dynamic model for complete walking, i.e., swing phase, knee lock, and foot impact are considered. Motion control for trajectory following of this design is studied using a nonlinear controller. The paper discusses the issue of tracking of desired trajectories during the full cycle motion.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:11 ,  Issue: 2 )

Date of Publication:

April 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.