This paper discusses the problem of achieving stable walking of a compass gait biped robot on a slope. A reference trajectory for stable walking is generated using Lagrangian dynamics of the biped robot. It is shown that an underactuated robot can follow the reference trajectory using a control law based on feedback linearization with respect to both hip and ankle joints. The results are compared in terms of Mean Square Error (MSE). The validity of the proposed controller is carried out using simulation studies.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Stability of an Underactuated Passive Biped Robot Using Partial Feedback Linearization Technique



    Erschienen in:

    Erscheinungsdatum :

    2013-09-03


    Format / Umfang :

    7 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Biped robot

    ZHANG WEI / ZHUANG YULUN / SHI GUOWEI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Biped robot gait control method and biped robot

    XIONG YOUJUN / GE LIGANG / LIU YIZHANG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Biped robot

    CHEN JIAN / SHEN JING | Europäisches Patentamt | 2023

    Freier Zugriff

    Nonlinear feedback control of a biped walking robot

    Mitobe, K. / Mori, N. / Aida, K. et al. | British Library Online Contents | 1996