DocumentCode
1709971
Title
Trajectory planning and control of a 3-link biped robot
Author
Lee, T.-T.
Author_Institution
Dept. of Electr. Eng., Kentucky Univ., Lexington, KY
fYear
1988
Firstpage
820
Abstract
Trajectory planning methods and control algorithms for a three-link biped robot are proposed. Based on the observation of the motions of human beings, trajectory planning methods are proposed without neglecting the nonlinear terms of the biped dynamics. A combination of several well-developed control methods is used to control the biped. Comparisons are made of the path tracking performance and torque consumption of these control algorithms
Keywords
control system analysis; position control; robots; biped dynamics; biped robot; path tracking; torque consumption; trajectory planning; Acceleration; Equations; Humans; Leg; Legged locomotion; Motion planning; Robots; Torque control; Torso; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12161
Filename
12161
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