Mechanical design and optimal control of humanoid robot (TPinokio)

Mechanical design and optimal control of humanoid robot (TPinokio)

The mechanical structure and the control of the locomotion of bipedal humanoid is an important and challenging domain of research in bipedal robots. Accurate models of the kinematics and dynamics of the robot are essential to achieve bipedal locomotion. Toe-foot walking produces a more natural and f...

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Bibliographic Details
Main Author: Teck Chew Wee
Format: Article
Language:English
Published: Wiley 2014-04-01
Series:The Journal of Engineering
Subjects:
optimal control
robot dynamics
robot kinematics
humanoid robots
legged locomotion
predictive control
poles and zeros
mechanical stability
mechanical design
humanoid robot
TPinokio robot
toe-feet bipedal
optimal walking gait generation methods
gait trajectory
augmented model predictive control method
pole-zero cancellation method
walking speed
stability
multiple point-mass system
double mass inverted pendulum model
single mass inverted pendulum model
zero-moment-point concept
Online Access:http://digital-library.theiet.org/content/journals/10.1049/joe.2013.0256

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http://digital-library.theiet.org/content/journals/10.1049/joe.2013.0256

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