Universiti Teknologi Malaysia Institutional Repository

Active Force Control of a 5-link biped robot

Kwek, L. C. and Loo, C. K. and Wong, E. K. and Rao, M. V. C. and Mailah, M. (2002) Active Force Control of a 5-link biped robot. IEEE Region 10 Annual International Conference, Proceedings/TENCON, 3 . pp. 1562-1565.

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Abstract

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.

Item Type:Article
Uncontrolled Keywords:Active Force Control; Biped; Crude Approximation; Proportional-Derivative
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:7084
Deposited By: Mohamad Ali Duki
Deposited On:30 Apr 2009 01:28
Last Modified:30 Apr 2009 01:28

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