DocumentCode
1768374
Title
Posture control strategy of a platform using a RP manipulator
Author
Gor, M.M. ; Pathak, P.M. ; Samantaray, A.K. ; Yang, J.-M. ; Kwak, S.W.
Author_Institution
Indian Inst. of Technol. Roorkee, Roorkee, India
fYear
2014
fDate
22-25 Oct. 2014
Firstpage
1325
Lastpage
1330
Abstract
This paper is an attempt to develop a posture control strategy for quadruped robot. Here, a concept of posture control is proposed, in which, a revolute and prismatic (RP) manipulator with payload at the end is used to control the body orientation. For the said analysis necessary model is developed in the bond graph and efficacy of the proposed strategies is validated through simulation results of the developed model.
Keywords
bond graphs; manipulators; position control; RP manipulator; body orientation control; bond graph; posture control strategy; quadruped robot; revolute and prismatic manipulator; TV; Bond graph modeling; Posture control; Quadruped robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location
Seoul
ISSN
2093-7121
Print_ISBN
978-8-9932-1506-9
Type
conf
DOI
10.1109/ICCAS.2014.6987762
Filename
6987762
Link To Document