• DocumentCode
    3649132
  • Title

    Absolute and relative angles nonlinear control of an underactuated 5-link biped with dynamic singularities

  • Author

    Adam Wojciech Lukomski

  • Author_Institution
    Department of Control and Measurement, West Pomeranian University of Technology in Szczecin
  • fYear
    2012
  • Firstpage
    160
  • Lastpage
    165
  • Abstract
    The feedback linearisation technique is used in order to control an underactuated 5-link biped model. A dynamic model with impacts is described and used for simulation. The choice of either absolute or relative angles for output function is briefly discussed and configuration space is checked for the occurrence of singularities in the decoupling matrix.
  • Keywords
    "Legged locomotion","Mathematical model","Torso","Linear systems","Switches","Tracking"
  • Publisher
    ieee
  • Conference_Titel
    Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
  • Print_ISBN
    978-1-4673-2121-1
  • Type

    conf

  • DOI
    10.1109/MMAR.2012.6347925
  • Filename
    6347925
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3649132