THE MOTION CONTROL OF A STATICALLY STABLE BIPED ROBOT ON AN UNEVEN FLOOR

Authors
SHIH CL CHIOU CJ
Citation
Cl. Shih et Cj. Chiou, THE MOTION CONTROL OF A STATICALLY STABLE BIPED ROBOT ON AN UNEVEN FLOOR, IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 28(2), 1998, pp. 244-249
Citations number
15
Categorie Soggetti
Computer Science Cybernetics","Robotics & Automatic Control","Computer Science Cybernetics","Robotics & Automatic Control
Journal title
IEEE transactions on systems, man and cybernetics. Part B. Cybernetics → ACNP
ISSN journal
10834419
Volume
28
Issue
2
Year of publication
1998
Pages
244 - 249
Database
ISI
SICI code
1083-4419(1998)28:2<244:TMCOAS>2.0.ZU;2-L
Abstract
This work studies the motion control of a statically stable biped robo t having seven degrees of freedom. Statically stable walking of the bi ped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-su pport and double-support phases. The main points of this work are fram ing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs.