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Dynamic Control of a Biped Walking Robot
Author(s) -
Loffler K.,
Gienger M.,
Pfeiffer F.
Publication year - 2000
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.20000801450
Subject(s) - control theory (sociology) , computer science , robot , feedback linearization , motion (physics) , nonlinear system , linearization , motion control , gait , scheme (mathematics) , control (management) , control engineering , simulation , engineering , mathematics , artificial intelligence , physics , physiology , mathematical analysis , quantum mechanics , biology
The project of a two‐legged walking robot is presented. For this system a nonlinear control scheme is proposed that is based on the method of feedback linearization. In order to allow for a “dynamically” stable motion, the reference trajectories are computed so that the system remains controllable throughout the entire gait cycle. In simulations the robot is controlled in a running motion, including phases without ground contact. The simulation results show the good performance of the control strategy in a purely dynamic motion.