Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque

Yi Ling Yang*, Chang-Po Chao, Cheng Kuo Sung

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.

Original languageEnglish
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages273-280
Number of pages8
DOIs
StatePublished - 17 Jun 2008
Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: 4 Sep 20077 Sep 2007

Publication series

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume8 PART A

Conference

Conference31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period4/09/077/09/07

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    Yang, Y. L., Chao, C-P., & Sung, C. K. (2008). Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (pp. 273-280). (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; Vol. 8 PART A). https://doi.org/10.1115/DETC2007-34362