DocumentCode
2817911
Title
Control of walking machine
Author
Larin, Vladimir B.
Author_Institution
Inst. of Mech., Acad. of Sci., Kiev, Ukraine
fYear
2000
fDate
2000
Firstpage
626
Lastpage
631
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location
Dearborn, MI
Print_ISBN
0-7803-6363-9
Type
conf
DOI
10.1109/IVS.2000.898418
Filename
898418
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