Analysis of a 5-dof planar biped mechanism with parallelogram-type links
作者： Israel Soto , Carla Campos , Miguel Llama , Ricardo Campa
DOI:
关键词: Kinematics 、 Robot kinematics 、 Zero moment point 、 Control theory 、 Engineering 、 Mechanism (engineering) 、 Control theory 、 Inverse kinematics 、 Stability (learning theory) 、 Parallelogram
摘要: This paper reports the modeling, trajectory planning and control of a 5-degree-of-freedom biped robot with parallelogram-type links. The kinematic dynamic models are obtained by using simplified approach real mechanism. model-based controller for tracking proposed gait patterns, analysis Zero Moment Point, which determines stability, also presented. Simulation results give important information future practical implementation
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