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ABSTRACT

Control of Walking Robot by Inverse Dynamics of Link Mechanisms Using FEM

S. Okamoto1, H. Noguchi2

School of Open and Environmental Systems, Keio University, Japan
Department of System Engineering, Keio University, Japan

The International Conference on Computational & Experimental Engineering and Sciences 2007, 2(4), 131-136. https://doi.org/10.3970/icces.2007.002.131

Abstract

This paper presents a control of walking robot by using inverse dynamics of link mechanisms, which has already been proposed and applied in several in-plane motions. In this method, FEM is used for the discretization of equations of motion. This method calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled efficiently, and the torques input to each joint of link mechanisms to achieve required motion are calculated easily. This method is suitable to the feed-forward control of closed-loop or continuously link mechanisms. In this paper, this inverse dynamics method is applied to the transverse walking problem of a robot and the control experiment is also conducted. The results illustrate the potential of the proposed method for the control of walking motion of robot.

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APA Style
Okamoto, S., Noguchi, H. (2007). Control of walking robot by inverse dynamics of link mechanisms using FEM. The International Conference on Computational & Experimental Engineering and Sciences, 2(4), 131-136. https://doi.org/10.3970/icces.2007.002.131
Vancouver Style
Okamoto S, Noguchi H. Control of walking robot by inverse dynamics of link mechanisms using FEM. Int Conf Comput Exp Eng Sciences . 2007;2(4):131-136 https://doi.org/10.3970/icces.2007.002.131
IEEE Style
S. Okamoto and H. Noguchi, “Control of Walking Robot by Inverse Dynamics of Link Mechanisms Using FEM,” Int. Conf. Comput. Exp. Eng. Sciences , vol. 2, no. 4, pp. 131-136, 2007. https://doi.org/10.3970/icces.2007.002.131



cc Copyright © 2007 The Author(s). Published by Tech Science Press.
This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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