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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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.
|Uncontrolled Keywords:||Active Force Control; Biped; Crude Approximation; Proportional-Derivative|
|Subjects:||T Technology > TJ Mechanical engineering and machinery|
|Deposited By:||Mohamad Ali Duki|
|Deposited On:||30 Apr 2009 01:28|
|Last Modified:||30 Apr 2009 01:28|
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