Active force control of a 5-link biped robot

Author

Kwek, L.C. ; Loo, C.K. ; Wong, E.K. ; Rao, M.V.C. ; Mailah, M.

Author_Institution

Fac. of Eng. & Technol., Multimedia Univ., Melaka, Malaysia

Volume

3

fYear

2002

fDate

28-31 Oct. 2002

Firstpage

1562

Abstract

The performance of a biped system under the application of Active Force Control (AFC) is evaluated by making the biped walk on a horizontal plane surface, in which the locomotion is constrained within the sagittal plane. The dynamic equations for a biped are nonlinear and highly coupled, and hence the biped does not perform well with pure PD control. The effectiveness of the proposed method (Active Force Control with Crude Approximation AFC-CA) is investigated and it is found that the system is robust and stable even under the influence of disturbances.

Keywords

control system analysis computing; force control; legged locomotion; nonlinear equations; robot dynamics; robot kinematics; robust control; two-term control; 5-link biped robot; PD control; active force control; active force control with crude approximation; constrained locomotion; dynamic model; horizontal plane surface; kinematics model; nonlinear highly coupled dynamic equations; robust stable system; sagittal plane; Automatic frequency control; Equations; Force control; Kinematics; Leg; Legged locomotion; Neural networks; Robots; Robust control; Sea surface;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON '02. Proceedings. 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering

Print_ISBN

0-7803-7490-8

Type

conf

DOI

10.1109/TENCON.2002.1182628

Filename

1182628