Title :
Absolute and relative angles nonlinear control of an underactuated 5-link biped with dynamic singularities
Author :
Adam Wojciech Lukomski
Author_Institution :
Department of Control and Measurement, West Pomeranian University of Technology in Szczecin
Abstract :
The feedback linearisation technique is used in order to control an underactuated 5-link biped model. A dynamic model with impacts is described and used for simulation. The choice of either absolute or relative angles for output function is briefly discussed and configuration space is checked for the occurrence of singularities in the decoupling matrix.
Keywords :
"Legged locomotion","Mathematical model","Torso","Linear systems","Switches","Tracking"
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347925
