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Active Force Control of a 5-link biped robot

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.

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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.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Real-Time vehicle simulation, vehicle dynamic model, visual database
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:7660
Deposited By: Maznira Sylvia Azra Mansor
Deposited On:14 Jan 2009 00:25
Last Modified:16 Oct 2017 04:03

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