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Design and control of an underactuated three-link rolling biped | IEEE Conference Publication | IEEE Xplore

Design and control of an underactuated three-link rolling biped


Abstract:

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 motio...Show More

Abstract:

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.
Date of Conference: 03-07 May 2010
Date Added to IEEE Xplore: 15 July 2010
ISBN Information:
Print ISSN: 1050-4729
Conference Location: Anchorage, AK, USA

References

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