Design and Control of an Underactuated Three-Link Rolling Biped

被引：2
|
作者：
Flynn, Louis L. [1 ]
Jafari, Rouhollah [1 ]
Mukherjee, Ranjan [1 ]
机构：
[1] Michigan State Univ, Dept Mech Engn, E Lansing, MI 48824 USA
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
WALKING ROBOT; EFFICIENT;
D O I：
10.1109/ROBOT.2010.5509610
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present the design and control of a simple three-link underactuated synthetic wheel biped composed of a torso and two legs with arc-shaped feet. The equations of motion are derived and a controller based on feedback linearization is used to constrain the controllable degrees of freedom and develop a simple gait. Experimental results show successful gait generation and relatively good trajectory tracking. The data on energy consumption indicates a reasonably low cost of transport, even without design or trajectory optimization.
引用
收藏
页码：3392 / 3398
页数：7
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