Title :
5-link Bipedal Robot Stabilized by Means of Dorsal Movement Compensation
Author :
Douat, Luiz R. ; Castelan, Eugnio B. ; Moreno, Ubirajara F.
Author_Institution :
Control Group of Mechatron. Syst., Fed. Univ. of Santa Catarina, Florianpolis
Abstract :
This paper proposes the use of the relative dorsal position of a 5-link bipedal robot for a moment compensation that assures a stable walking, even if the robot parameters are not perfectly known. Furthermore, avoidance of knee hyperextension at the supporting leg is implemented, using a computed torque with modified PD control law in which the derivative action is applied over the output of the decoupled system, instead of over the tracking error. All the results are verified through simulations.
Keywords :
PD control; compensation; legged locomotion; robot kinematics; stability; 5-link bipedal robot; PD control law; decoupled system; dorsal movement compensation; knee hyperextension avoidance; robot kinematics; stability; Computational modeling; Error correction; Gravity; Humans; Knee; Leg; Legged locomotion; PD control; Robot kinematics; Robotics and automation;
Conference_Titel :
Robotic Symposium, 2008. LARS '08. IEEE Latin American
Conference_Location :
Natal, Rio Grande do Norte
Print_ISBN :
978-1-4244-3379-7
Electronic_ISBN :
978-0-7695-3536-4
DOI :
10.1109/LARS.2008.8
