DocumentCode
3626644
Title
Control Strategy of a 3-DOF Walking Robot
Author
Anca Petrisor;Nicu George Bizdoaca;Sonia Degeratu;Adrian Drighiciu;Gabriela Petropol Serb;Daniela Coman;Marius Constantin Popescu
Author_Institution
University of Craiova /Faculty of Electromechanical Engineering, Craiova, Romania
fYear
2007
Firstpage
2337
Lastpage
2342
Abstract
The paper presents the mathematical model of a walking robot where the active pair of legs has three free joints. The mathematical model of the robot is determined considering a systemic approach of the robot as variable causality dynamic systems (VCDS). Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The results can be extended to three-dimensional space. The approach is best on variable dynamic systems, considering that each leg of the pair can change the state depending of the causality order. It is considered that the first leg has both joints free and the second leg has the second joint free. The model is implemented in MATLAB environment and some evolutions examples are presented.
Keywords
"Legged locomotion","Robot kinematics","Leg","Mathematical model","Orbital robotics","MATLAB","Hip","Actuators","Gravity"
Publisher
ieee
Conference_Titel
EUROCON, 2007. The International Conference on "Computer as a Tool"
Print_ISBN
978-1-4244-0812-2
Type
conf
DOI
10.1109/EURCON.2007.4400493
Filename
4400493
Link To Document