Walking trajectory generation and force feedback control for the humanoid robot leg module SURALP-L
Erbatur, Kemalettin and Seven, Utku and Taşkıran, Evrim and Koca, Özer (2008) Walking trajectory generation and force feedback control for the humanoid robot leg module SURALP-L. In: IASTED International Conference on Intelligent Systems and Control, (Accepted/In Press) AbstractSURALP is a new walking humanoid robot platform. The
kinematic arrangement of the robot is planned with 30
independently driven axes, including legs, arms, waist and
a neck. The 12-degrees-of-freedom (DOF) leg module of
the platform, SURALP-L, is completed. The actuation is
based on DC motors, belt and pulley systems and
Harmonic Drive reduction gears. The sensory equipment
consists of joint encoders and force/torque sensors. The
control hardware is centered on a dSpace digital signal
processor. This paper develops a smooth walking
trajectory generation system and a walking control
method based on force feedback. The control method
features a ground impact compensator, an early landing
trajectory modification system, controllers for the foot
orientation, and independent joint position controllers.
Experimental walking results with the leg module are
presented. Available Versions of this Item- Walking trajectory generation and force feedback control for the humanoid robot leg module SURALP-L. (deposited 07 Nov 2008 14:45) [Currently Displayed]
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