Overview
ABSTRACT
The locomotion of humanoid robots is essential for the development of new transport systems. It has to satisfy constraints of lower energy consumption to increase energy autonomy and meet the conditions of unilateral contact. It also has to ensure the orbital stability of walking despite disturbances such as model uncertainty, unstructured ground, or interactions with the environment. To eliminate these disturbances, we consider control strategies associated with the definition of reference movements. This article presents some basic control strategies and analysis tools for the orbital stability of a cyclic planar and 3D bipedal robot walk.
Read this article from a comprehensive knowledge base, updated and supplemented with articles reviewed by scientific committees.
Read the articleAUTHORS
-
Gabriel ABBA : University Professor at the University of Lorraine - Design and manufacturing laboratory - (LCFC, EA 4495)
-
Yannick AOUSTIN : Professor at the University of Nantes - Nantes Institute for Research in Communication and Cybernetics - (IRCCyN, UMR CNRS 6597)
INTRODUCTION
The locomotion of humanoid robots is essential for the development of new transport systems. It must satisfy the constraints of reduced energy consumption to increase energy autonomy, and compliance with one-sided contact conditions. It must also ensure orbital stability despite disturbances such as model uncertainties, ground irregularities or interactions with the environment. To reject these disturbances, we consider control strategies that are associated with the definition of reference motions. Some basic control strategies and elements for analyzing the orbital stability of a cyclic walk of bipedal planar and 3D robots are presented in this article.
Exclusive to subscribers. 97% yet to be discovered!
Already subscribed? Log in!
KEYWORDS
Mobil robotics | Monitoring | Locomotion | virtual constraints | Walking gait
Control of Humanoid Robots
Introduction
Bibliography
Exclusive to subscribers. 97% yet to be discovered!
Already subscribed? Log in!
Article included in this offer
Updated and enriched with articles validated by our scientific committees
A set of exclusive tools to complement the resources
