Feedback Control Design for a Walking Athlete Robot
Journal Title: Robotica & Management - Year 2017, Vol 22, Issue 1
Abstract
In the paper, authors generalized the dynamic model of an athlete robot with elastic legs through Lagrange method. Then, a feed-back controller was designed to control the robot through a step-walking. The research just focused on stance phase – the period that robot just touched one leg on the ground. The simulation results showed that system worked well with the designed controller.
Authors and Affiliations
Xuan Vu Trien Nguyen, Thi Thanh Hoang Le, Minh Tam Nguyen, Van Dong Hai Nguyen
Keywords
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