Title :
Trajectory planning and control of a 3-link biped robot
Author_Institution :
Dept. of Electr. Eng., Kentucky Univ., Lexington, KY
Abstract :
Trajectory planning methods and control algorithms for a three-link biped robot are proposed. Based on the observation of the motions of human beings, trajectory planning methods are proposed without neglecting the nonlinear terms of the biped dynamics. A combination of several well-developed control methods is used to control the biped. Comparisons are made of the path tracking performance and torque consumption of these control algorithms
Keywords :
control system analysis; position control; robots; biped dynamics; biped robot; path tracking; torque consumption; trajectory planning; Acceleration; Equations; Humans; Leg; Legged locomotion; Motion planning; Robots; Torque control; Torso; Trajectory;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12161
