Mechatronic system and implementation for intelligent walking machines

As position control alone is not sufficient for machine walking, force control. is therefore suggested. The foot force control allows better force distribution among the legs and therefore reduces the chance of overloading the leg actuators. However, force control is still a problem in manipulators...

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Bibliographic Details
Main Author:	Yang, Aiqiang
Other Authors:	Low, Kin Huat
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Robots
Online Access:	http://hdl.handle.net/10356/5445
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-5445
record_format	dspace
spelling	sg-ntu-dr.10356-54452023-03-11T16:59:12Z Mechatronic system and implementation for intelligent walking machines Yang, Aiqiang Low, Kin Huat School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Robots As position control alone is not sufficient for machine walking, force control. is therefore suggested. The foot force control allows better force distribution among the legs and therefore reduces the chance of overloading the leg actuators. However, force control is still a problem in manipulators and walking machines during the contact with obstacles, partly due to the high stiffness between motor and load. Small changes in position will cause big changes in force, therefore the system is likely to be unstable. Master of Engineering (MPE) 2008-09-17T10:50:50Z 2008-09-17T10:50:50Z 2003 2003 Thesis http://hdl.handle.net/10356/5445 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle	DRNTU::Engineering::Mechanical engineering::Robots Yang, Aiqiang Mechatronic system and implementation for intelligent walking machines
description	As position control alone is not sufficient for machine walking, force control. is therefore suggested. The foot force control allows better force distribution among the legs and therefore reduces the chance of overloading the leg actuators. However, force control is still a problem in manipulators and walking machines during the contact with obstacles, partly due to the high stiffness between motor and load. Small changes in position will cause big changes in force, therefore the system is likely to be unstable.
author2	Low, Kin Huat
author_facet	Low, Kin Huat Yang, Aiqiang
format	Theses and Dissertations
author	Yang, Aiqiang
author_sort	Yang, Aiqiang
title	Mechatronic system and implementation for intelligent walking machines
title_short	Mechatronic system and implementation for intelligent walking machines
title_full	Mechatronic system and implementation for intelligent walking machines
title_fullStr	Mechatronic system and implementation for intelligent walking machines
title_full_unstemmed	Mechatronic system and implementation for intelligent walking machines
title_sort	mechatronic system and implementation for intelligent walking machines
publishDate	2008
url	http://hdl.handle.net/10356/5445
_version_	1761781742521286656

Mechatronic system and implementation for intelligent walking machines

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