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Abstract
In this paper, a control method for a nonlinear model of a 7 DOF biped robot is discussed. The Walking gait is generated by controlling the position of the trunk of the robot to track a desired trajectory which based on analyzing the dynamics of a three dimensional inverted pendulum. The motion of a three dimensional inverted pendulum is constrained to move along a defined plane. One challenge in motion control of biped walking is high nonlinearities of the dynamics and inaccuracy of the parameters in the biped model.
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Article Details
Issue: Vol 11 No 3 (2008)
Page No.: 41-48
Published: Mar 31, 2008
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v11i3.2619
Copyright Info
Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
How to Cite
Quoc Chi, N., Mien Ka, D., Tan Lam, C., & Hoai Quoc, L. (2008). DYNAMIC MODEL AND CONTROL FOR BIPED ROBOT. Science and Technology Development Journal, 11(3), 41-48. https://doi.org/https://doi.org/10.32508/stdj.v11i3.2619
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