Dynamic analysis and decoupled control of a heavy-duty walking robot with flexible feet based on super twisting algorithm
In this paper, the dynamics and control strategies of a biped robot with 6-DOF parallel leg mechanism are studied. Firstly, the multi-body kinematic model and dynamic model of the robot are established. Secondly, the insufficient stiffness of robot’s feet and the coupling effect between the kinemati...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-01-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294020974059 |