TY - GEN
T1 - Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque
AU - Yang, Yi Ling
AU - Chao, Chang-Po
AU - Sung, Cheng Kuo
PY - 2008/6/17
Y1 - 2008/6/17
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=44949226089&partnerID=8YFLogxK
U2 - 10.1115/DETC2007-34362
DO - 10.1115/DETC2007-34362
M3 - Conference contribution
AN - SCOPUS:44949226089
SN - 0791848027
SN - 9780791848029
SN - 0791848094
SN - 9780791848098
T3 - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
SP - 273
EP - 280
BT - 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Y2 - 4 September 2007 through 7 September 2007
ER -