NDLI: Evaluación experimental del caminado en tiempo real de un robot bípedo de 5 g.d.l. con marcha basada en movimientos cicloidales

Content Provider	Semantic Scholar
Author	De-León-Gómez, Víctor Santibáñez, Víctor
Copyright Year	2015
Abstract	The results of experimental tests of walking of the 5 degrees of freedom (dof) biped robot developed at the Instituto Tecnologico de la Laguna (ITLag) are presented in this paper. The gait pattern that is applied in this robot is based on cycloidal motion-type laws, which allow to advance by steps without impacts. Experiments showed an adequate mechanical behavior of the robot and effective performance of the control law applied to keep the ZMP (Zero Moment Point) inside of the support polygon of the robot's feet during walking. The specified parameters for gait pattern ensured a stable walking of the robot, without saturating the torque applied by the actuators.
Starting Page	408
Ending Page	418
Page Count	11
File Format	PDF HTM / HTML
DOI	10.1016/j.riai.2014.10.002
Volume Number	12
Alternate Webpage(s)	https://polipapers.upv.es/index.php/RIAI/article/download/9342/9342
Alternate Webpage(s)	https://doi.org/10.1016/j.riai.2014.10.002
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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