Active Force Control of a 5-link biped robot

• Main Authors: Kwek, L. C., Loo, Chu Kiong, Wong, E. K., Rao, M. V. C., Mailah, Musa
• Format: Conference or Workshop Item
• Language: English
• Published: 2004
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf; http://eprints.utm.my/id/eprint/7660/

The performance of the biped system under the application of Active Force Control (AFC) is evaluated by making the biped walk on a, horizontal plane surface, In which the locomotion is constrained within the sagittal plane. The dynamic equations for a biped are nonlinear and highly coupled, and henc...