Walking trajectory control for a biped robot
Cuevas, Eric ;  Zaldivar, Daniel ;  Rojas, Raùl ;  Universität <Berlin, Freie Universität> / Fachbereich Mathematik und Informatik

Main titleWalking trajectory control for a biped robot
AuthorCuevas, Eric
AuthorZaldivar, Daniel
AuthorRojas, Raùl
InstitutionUniversität <Berlin, Freie Universität> / Fachbereich Mathematik und Informatik
No. of Pages18 S.
Series Freie Universität Berlin, Fachbereich Mathematik und Informatik : Ser. B, Informatik ; [20]04,18
Classification (DDC)004 Data processing and Computer science
AbstractA not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot “Dany walker” designed at the Freie Universität Berlin, finally a briefly mechanical description of the robot structure is presented.
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FU DepartmentDepartment of Mathematics and Computer Science
Other affiliation(s)Institut für Informatik
Year of publication2004
Type of documentWorking paper
Terms of use/Rights Nutzungsbedingungen
Created at2009-06-02 : 10:28:16
Last changed2015-03-03 : 01:41:27
Static URLhttp://edocs.fu-berlin.de/docs/receive/FUDOCS_document_000000002135