Control strategy of a 3-DOF walking robot

被引：0

作者：

Petrisor, Anca ^{[1
]}

Bizdoaca, Nicu George ^{[1
]}

Degeratu, Sonia ^{[1
]}

Drighiciu, Adrian ^{[1
]}

Serb, Gabriela Petropol ^{[1
]}

Coman, Daniela ^{[1
]}

Popescu, Marius Constantin ^{[1
]}

机构：

[1] Univ Craiova, Fac Electromech Engn, Craiova, Romania

来源：

EUROCON 2007: THE INTERNATIONAL CONFERENCE ON COMPUTER AS A TOOL, VOLS 1-6 | 2007年

关键词：

robotics; variable causality; mathematical model; control strategy;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 NUTLAB environment and some evolutions examples are presented.

引用

页码：1597 / 1602

页数：6