Balancing of legged mechanism with multiple segments

Chang B. Joo; Joo H. Kim

doi:10.1109/ICRA.2013.6631394

Balancing of legged mechanism with multiple segments

Chang B. Joo, Joo H. Kim

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	5683-5688
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6631394
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: May 6 2013 → May 10 2013

Publication series

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

Other

Other	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	5/6/13 → 5/10/13

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2013.6631394

Cite this

Joo, CB & Kim, JH 2013, Balancing of legged mechanism with multiple segments. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631394, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5683-5688, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631394

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AB - 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.

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Balancing of legged mechanism with multiple segments

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