• DocumentCode
    3126316
  • Title

    5-link Bipedal Robot Stabilized by Means of Dorsal Movement Compensation

  • Author

    Douat, Luiz R. ; Castelan, Eugnio B. ; Moreno, Ubirajara F.

  • Author_Institution
    Control Group of Mechatron. Syst., Fed. Univ. of Santa Catarina, Florianpolis
  • fYear
    2008
  • fDate
    29-30 Oct. 2008
  • Firstpage
    105
  • Lastpage
    110
  • Abstract
    This paper proposes the use of the relative dorsal position of a 5-link bipedal robot for a moment compensation that assures a stable walking, even if the robot parameters are not perfectly known. Furthermore, avoidance of knee hyperextension at the supporting leg is implemented, using a computed torque with modified PD control law in which the derivative action is applied over the output of the decoupled system, instead of over the tracking error. All the results are verified through simulations.
  • Keywords
    PD control; compensation; legged locomotion; robot kinematics; stability; 5-link bipedal robot; PD control law; decoupled system; dorsal movement compensation; knee hyperextension avoidance; robot kinematics; stability; Computational modeling; Error correction; Gravity; Humans; Knee; Leg; Legged locomotion; PD control; Robot kinematics; Robotics and automation;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotic Symposium, 2008. LARS '08. IEEE Latin American
  • Conference_Location
    Natal, Rio Grande do Norte
  • Print_ISBN
    978-1-4244-3379-7
  • Electronic_ISBN
    978-0-7695-3536-4
  • Type

    conf

  • DOI
    10.1109/LARS.2008.8
  • Filename
    4812634
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3126316