Planar walking control for a five-link biped robot |
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| Authors: | A P Krishchenko S B Tkachev D A Fetisov |
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| Institution: | (1) Department of Mechanical Engineering, Hanyang University, Seoul, Korea;(2) School of Mechanical Engineering, Hanyang University, Seoul, Korea |
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| Abstract: | A planar walking model is considered for a five-link biped robot. The normal form of the system describing the robot’s behavior
in the single-support phase is constructed. The periodic motion problem is reduced to analyzing the system of zero dynamics
equations. Simulation results are reported.
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Translated from Nelineinaya Dinamika i Upravlenie, No. 3, pp. 201–216, 2003. |
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