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Active Force Control of a 5-link biped robot

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...

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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/
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spelling my.utm.76602017-10-16T04:03:20Z http://eprints.utm.my/id/eprint/7660/ Active Force Control of a 5-link biped robot Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa TJ Mechanical engineering and machinery 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 hence the biped does not perform well with the pure PD control. The effectiveness of the proposed method (Active Force Control with Crude Approximation-AFC-CA) is investigated and it is found that the system is robust and stable even under the influence of disturbances. 2004 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf Kwek, L. C. and Loo, Chu Kiong and Wong, E. K. and Rao, M. V. C. and Mailah, Musa (2004) Active Force Control of a 5-link biped robot. In: Proceedings VRCAI 2004-ACM SIGGRAPH International Conference on Virtual Reality Continuum and its Application in Industry, 28-31 Oct. 2002.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Kwek, L. C.
Loo, Chu Kiong
Wong, E. K.
Rao, M. V. C.
Mailah, Musa
Active Force Control of a 5-link biped robot
description 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 hence the biped does not perform well with the pure PD control. The effectiveness of the proposed method (Active Force Control with Crude Approximation-AFC-CA) is investigated and it is found that the system is robust and stable even under the influence of disturbances.
format Conference or Workshop Item
author Kwek, L. C.
Loo, Chu Kiong
Wong, E. K.
Rao, M. V. C.
Mailah, Musa
author_facet Kwek, L. C.
Loo, Chu Kiong
Wong, E. K.
Rao, M. V. C.
Mailah, Musa
author_sort Kwek, L. C.
title Active Force Control of a 5-link biped robot
title_short Active Force Control of a 5-link biped robot
title_full Active Force Control of a 5-link biped robot
title_fullStr Active Force Control of a 5-link biped robot
title_full_unstemmed Active Force Control of a 5-link biped robot
title_sort active force control of a 5-link biped robot
publishDate 2004
url 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/
_version_ 1643644823462215680
score 13.160551

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