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Biped robot locomotion in the sagittal I plane

Medrano-Cerda, G. A. and Eldukhri, Eldaw Elzaki 1997. Biped robot locomotion in the sagittal I plane. Transactions of the Institute of Measurement and Control 19 (1) , pp. 38-49. 10.1177/014233129701900104

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Abstract

This paper describes the control system for an eight-degree-of-freedom biped robot built at the University of Salford. The controller enables the robot to walk in the sagittal plane on smooth level terrain and is essentially an observer-based controller utilising state feedback, integral action and feedforward control. The robot posture is controlled by selecting constant reference set points for the control system. Locomotion is achieved by suitably modifying the reference set points. The robot walks with a step length of approximately 0.3 m and a speed of about 0.03 m/s.

Item Type: Article
Date Type: Publication
Status: Published
Schools: Engineering
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Uncontrolled Keywords: Biped robot; legged locomotion; balancing control
Publisher: SAGE Publications
ISSN: 0142-3312
Last Modified: 19 Mar 2016 23:03
URI: http://orca.cf.ac.uk/id/eprint/36940

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