Balancing of legged mechanism with multiple segments

Chang B. Joo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The purpose of this paper is to investigate what kinds of effects the multi-segmental body with actively controlled body part have on balancing. As part of the research, a biped mechanism is simplified to multi-segmental legged model in sagittal plane where the model is comprised of a stance leg, foot and actively controlled body part. Not only the system parameters are in place but also necessary and sufficient conditions for balancing have been implemented as constraints. The algorithm that we proposed iteratively solves nonlinear constrained optimization problems. The balanced state domain is constructed by connecting velocity extrema. The proposed algorithm is used to identify the balanced state domain in a deterministic scheme using numerical optimization.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages5683-5688
Number of pages6
DOIs
StatePublished - 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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