제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2003년도 ICCAS
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- Pages.225-230
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- 2003
Dynamic Trajectory Control of a Biped Robot with Curved Soles
- Yeon, Je-Sung (Department of Precision Mechanical Engineering, Hanyang University) ;
- Park, Jong-Hyeon (School of Mechanical Engineering, Hanyang University)
- 발행 : 2003.10.22
초록
This paper proposes a desired trajectory and a control algorithm for a biped robot with curved soles. Firstly, we derived the desired trajectory from a model called the Moving Inverted Pendulum Mode (MIPM) of which a contact point of the foot is moving in the horizontal direction. A biped robot with curved soles is under-actuated system, because it has one contact point with the ground during the single supporting phase. Therefore, to solve the under-actuated problem, we changed control variables, used modified dynamic equations and used the computed torque control. The simulation results show that a biped robot with curved soles walks stably. Also, fast walking and natural motion of a biped robot can be implemented.