Jacobian based control of walking robot with compliant legs

M. M. Gor, P. M. Pathak, A. K. Samantaray, Jung Ming Yang, Seong Woo Kwak

Research output: Contribution to conferencePaperpeer-review

3 Scopus citations

Abstract

Jacobian based control of walking robot is difficult as compared to terrestrial manipulator as walking robot's each leg can be considered as a terrestrial manipulator. Moreover each leg is not always in motion as it has to pass through stand and motion phase depending upon the gait pattern. This paper proposed an approach where first gait pattern is assumed and for this gait pattern joint motions are assumed. For these joint motions the leg tip velocity is simulated. For pattern generation this leg tip velocity is assumed as the reference velocity and given to leg tip during the motion of that particular leg. The actual velocity of leg is calculated from the joint velocity of leg. The error in leg tip velocity is evaluated in PID controller, calculates the corrective voltage required for the joint motors. For the said analysis, the bond graph has been adopted as the modeling tool.

Conference

Conference6th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012
Country/TerritoryAustria
CityVienna
Period19/09/1221/09/12

Keywords

  • Bond Graph
  • Jacobian
  • Walking robot
  • Workspace

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