Title :
Simulation of postural control for a walking robot
Author :
Nagy, Peter ; Manko, David ; Desa, Subhas ; Whittaker, William
Author_Institution :
Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Postural control is of utmost importance for walking robots, particularly for those that traverse rugged terrain. A dynamic model for locomotion in rugged terrain is presented. The model has 18 actuated degrees of freedom, plus six unactuated body translations and rotations to produce a total of 24 degrees of freedom. Nonlinear foot-terrain interaction models keep track of nonconservative soil deformations, and allow feet to make or break contact any number of times during a simulation. The utilization of this model for postural control studies is presented. A modification of the vertical hybrid control by allocation method is proposed as a viable postural control scheme. However, it is shown that positional control is sufficient in order to achieve stable response with the mechanism.<>
Keywords :
dynamics; mobile robots; position control; dynamic model; locomotion; mobile robots; nonlinear foot terrain interaction model; positional control; postural control; walking robot; Dynamics; Mobile robots; Position control;
Conference_Titel :
Systems Engineering, 1991., IEEE International Conference on
Conference_Location :
Dayton, OH, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1991.161144