Balancing of 15-DOF Biped System
Article No.: 5, Pages 1 - 6
Abstract
This paper proposes architecture for a biped robot with six DOFs per leg and three DOFs Pelvis with each foot having capability to measure the reaction force. System is controlled by 32-bit microcontroller, sensors, strain gauges, and feedback devices for the balancing while it is on single or double foot posture. It has been observed that balance of 15-DOF biped system is achieved successfully with the help of measuring Zero Moment Point (ZMP) with strain gauge and accelerometer.
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Published In
June 2017
325 pages
ISBN:9781450352949
DOI:10.1145/3132446
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- IIT-Delhi: IIT-Delhi
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 28 June 2017
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AIR '17
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