By Topic

Force based motion control of the walking machine ALDURO using exact linearization methods

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
$33 $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)
M. Schneider ; GH Duisburg, Gerhard-Mercator Univ., Germany ; J. Muller

Hydraulically driven walking machines like ALDURO, which is being developed at the University of Duisburg, are typical mechatronic systems as they can be driven only by means of sensor information and controllers. In this paper a force based motion control concept is presented to control both the platform movement and the foot-ground forces of the ALDURO. Due to strong kinematic and dynamic nonlinearities pure linear controllers do not provide satisfactory results. Therefore, nonlinear control concepts requiring a detailed mathematical model have to be applied. The overall control structure presented is based on an exact input/output linearization using decentralized force controllers. Some simulation results are shown to demonstrate the function of the control concept presented

Published in:

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

Date of Conference:

1999