A walking bipedal robot using a position control algorithm based on center of mass criterion

• 主要作者: Magsino, Elmer R.
• 格式: text
• 出版: Animo Repository 2019
• 主題: Bipedalism; Center of mass; Robots—Kinematics; Electrical and Computer Engineering; Electrical and Electronics
• 在線閱讀: https://animorepository.dlsu.edu.ph/faculty_research/2322
• 機構: De La Salle University

A position control algorithm based on inverse kinematics and a control strategy utilizing the Center of Mass criterion are implemented to yield a walking bipedal robot. The bipedal robot has no upper body, stands approximately 50 cm and weighs about four kg. Each leg of the robot has five degrees of...