Title :
Control of walking machine
Author :
Larin, Vladimir B.
Author_Institution :
Inst. of Mech., Acad. of Sci., Kiev, Ukraine
Abstract :
Walking machine is considered as a system with the variable constraints. Driving such system is described by differential and difference equations. The algorithm of choice of a program motion and the algorithm of stabilization of this motion are explained. The paper shows that at the control synthesis of the walking machine it is necessity to taken into account the dynamic effects, stipulated by a changing of constraints. Outcomes of mathematical modeling of motion of the flat model of biped are presented
Keywords :
control system synthesis; differential equations; legged locomotion; motion control; robot dynamics; stability; biped robots; constraints; difference equations; differential equations; dynamics; mobile robots; motion control; stabilization; walking machine; Control system synthesis; Difference equations; Differential equations; Foot; Leg; Legged locomotion; Mathematical model; Motion analysis; Robot kinematics; Vectors;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898418
