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

研究成果: Conference contribution同行評審

摘要

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.

原文English
主出版物標題2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
頁面273-280
頁數8
DOIs
出版狀態Published - 17 六月 2008
事件31st 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
持續時間: 4 九月 20077 九月 2007

出版系列

名字2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
8 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
國家United States
城市Las Vegas, NV
期間4/09/077/09/07

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