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

页码：3392 / 3398

页数：7

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