Title :
Stabilization of a 5-link bipedal robot by means of dorsal movement compensation
Author :
Douat, Luiz R. ; Castelan, Eugênio B. ; Moreno, Ubirajara F.
Author_Institution :
Fed. Univ. of Santa Catarina - UFSC, Florianopolis
Abstract :
Based on mechanical energies analysis, the aim of this paper is to propose the use of the relative dorsal position of a 5-link bipedal robot in order to compensate its moments during the walking cycle, leading the previously unstable system to stability. Also, a modification of the PD control law avoids hyperextension at the supporting legpsilas knee. Finally, the model parameters are subjected to percentual variations with respect to the real robot parameters and the robustness of the system is verified through simulations.
Keywords :
PD control; compensation; legged locomotion; position control; stability; 5-link bipedal robot; PD control law; dorsal movement compensation; dorsal position; mechanical energies analysis; robot parameter; robustness; stabilization; walking cycle; Foot; Gravity; Knee; Leg; Legged locomotion; Mechanical energy; PD control; Robot kinematics; Robotics and automation; Robustness;
Conference_Titel :
Emerging Technologies and Factory Automation, 2008. ETFA 2008. IEEE International Conference on
Conference_Location :
Hamburg
Print_ISBN :
978-1-4244-1505-2
Electronic_ISBN :
978-1-4244-1506-9
DOI :
10.1109/ETFA.2008.4638532
