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Active Force Control of a 5-link biped robot

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 henc...

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Main Authors:	Kwek, L. C., Loo, Chu Kiong, Wong, E. K., Rao, M. V. C., Mailah, Musa
Format:	Conference or Workshop Item
Language:	English
Published:	2004
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf http://eprints.utm.my/id/eprint/7660/
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id	my.utm.7660
record_format	eprints
spelling	my.utm.76602017-10-16T04:03:20Z http://eprints.utm.my/id/eprint/7660/ Active Force Control of a 5-link biped robot Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa TJ Mechanical engineering and machinery 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. 2004 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf 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.
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa Active Force Control of a 5-link biped robot
description	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.
format	Conference or Workshop Item
author	Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa
author_facet	Kwek, L. C. Loo, Chu Kiong Wong, E. K. Rao, M. V. C. Mailah, Musa
author_sort	Kwek, L. C.
title	Active Force Control of a 5-link biped robot
title_short	Active Force Control of a 5-link biped robot
title_full	Active Force Control of a 5-link biped robot
title_fullStr	Active Force Control of a 5-link biped robot
title_full_unstemmed	Active Force Control of a 5-link biped robot
title_sort	active force control of a 5-link biped robot
publishDate	2004
url	http://eprints.utm.my/id/eprint/7660/1/Mailah_Musa_2004_Active_Force_Control_5-link_Biped.pdf http://eprints.utm.my/id/eprint/7660/
_version_	1643644823462215680
score	13.211869

Active Force Control of a 5-link biped robot

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