Hybrid position/force algorithms for biped locomotion

This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete wlaking cycle is divided in two phases: i) single support - in which it is studied the trajectory controllability based on simple motion goals a...

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Bibliographic Details
Main Author: Silva, Filipe M. (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 2019
Subjects:
Trajectory planning
Dynamics
Control algorithms
Force control
Walking
Online Access:http://hdl.handle.net/10400.22/13402
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13402

Internet

http://hdl.handle.net/10400.22/13402

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