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RISControl of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work presents a novel approach for the design and control of a two degrees-of-freedom (DOF) robotic manipulator driven by one pneumatic artificial muscle (PAM) and one passive spring for each of its DOFs. The required ...
EnergyBased Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is used for energy analysis and footstep placement. In order to include the linear and rotational motions of ...
Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is used for energy analysis and footstep placement. In order to include the linear and rotational motions of ...
Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable ...