Balancing of legged mechanism with multiple segments

Chang B. Joo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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
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: 6 May 201310 May 2013

Publication series

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

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period6/05/1310/05/13

Fingerprint

Dive into the research topics of 'Balancing of legged mechanism with multiple segments'. Together they form a unique fingerprint.

Cite this