ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR

Simple item page
dc.contributor.authorScarfogliero, Umberto
dc.contributor.authorFolgheraiter, Michele
dc.contributor.authorGini, Giuseppina
dc.date.accessioned2017-02-22T10:54:39Z
dc.date.available2017-02-22T10:54:39Z
dc.date.issued2004
dc.description.abstractThis paper focuses on the study and design of an anthropomorphical light biped robot. The robot presents a total of twelve degree of freedom that will permit it to act a walk in a three dimensional space, right now tested only in simulation. Each joint resemble the functionalities of the human articulation and is moved by tendon connected with actuator located in the robot’s pelvis. We implemented and tested an innovative actuator that permits to set the joint stiffness in real time maintaining a simple position control paradigm. The controller is able to estimate the external load measuring the spring deflection and demonstrated to be particularly robust respect to system uncertainties, such as inertia value changes. Comparing the resulting control law with existing models we found several similarities with the Equilibrium Point Theory.ru_RU
dc.identifier.citationUmberto Scarfogliero, Michele Folgheraiter, Giuseppina Gini; 2004; ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR; 4th IEEE/RAS International Conference on Humanoid Robots; http://nur.nu.edu.kz/handle/123456789/2333ru_RU
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/2333
dc.language.isoenru_RU
dc.publisher4th IEEE/RAS International Conference on Humanoid Robotsru_RU
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectHumanoid Roboticsru_RU
dc.subjectBipedru_RU
dc.subjectJoint Stiffness Controlru_RU
dc.subjectEquilibrium Point Hypothesisru_RU
dc.titleADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATORru_RU
dc.typeArticleru_RU

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
ADVANCED STEPS IN BIPED ROBOTICS INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR.pdf
Size:
3.49 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
6.22 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Articles