Active Force Control of a 5-link biped robot
The performance of the biped system under the application of Active Force Control (AFC) is evaluated by making the biped walk on a, horizontal plane surface, In which the locomotion is constrained within the sagittal plane. The dynamic equations for a biped are nonlinear and highly coupled, and henc...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2004
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| Subjects: | |
| Online Access: | http://eprints.utm.my/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf |
| _version_ | 1825910074140262400 |
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| author | Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa |
| author_facet | Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa |
| author_sort | Kwek, L. C. |
| collection | ePrints |
| description | The performance of the biped system under the application of Active Force Control (AFC) is evaluated by making the biped walk on a, horizontal plane surface, In which the locomotion is constrained within the sagittal plane. The dynamic equations for a biped are nonlinear and highly coupled, and hence the biped does not perform well with the pure PD control. The effectiveness of the proposed method (Active Force Control with Crude Approximation-AFC-CA) is investigated and it is found that the system is robust and stable even under the influence of disturbances. |
| first_indexed | 2024-03-05T18:11:39Z |
| format | Conference or Workshop Item |
| id | utm.eprints-7660 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T18:11:39Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | utm.eprints-76602017-10-16T04:03:20Z http://eprints.utm.my/7660/ Active Force Control of a 5-link biped robot Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa TJ Mechanical engineering and machinery The performance of the biped system under the application of Active Force Control (AFC) is evaluated by making the biped walk on a, horizontal plane surface, In which the locomotion is constrained within the sagittal plane. The dynamic equations for a biped are nonlinear and highly coupled, and hence the biped does not perform well with the pure PD control. The effectiveness of the proposed method (Active Force Control with Crude Approximation-AFC-CA) is investigated and it is found that the system is robust and stable even under the influence of disturbances. 2004 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf Kwek, L. C. and Loo, Chu Kiong and Wong, E. K. and Rao, M. V. C. and Mailah, Musa (2004) Active Force Control of a 5-link biped robot. In: Proceedings VRCAI 2004-ACM SIGGRAPH International Conference on Virtual Reality Continuum and its Application in Industry, 28-31 Oct. 2002. |
| spellingShingle | TJ Mechanical engineering and machinery Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa Active Force Control of a 5-link biped robot |
| title | Active Force Control of a 5-link biped robot |
| title_full | Active Force Control of a 5-link biped robot |
| title_fullStr | Active Force Control of a 5-link biped robot |
| title_full_unstemmed | Active Force Control of a 5-link biped robot |
| title_short | Active Force Control of a 5-link biped robot |
| title_sort | active force control of a 5 link biped robot |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf |
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