Control of walking robots using virtual springs

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

    28 Downloads (Pure)

    Abstract

    At the Control Engineering group of the University of Twente, we are conducting research on control of bipedal robots. In our search for robust and energy efficient control, we are making extensive use of simulation. In order to facil- itate the development of algorithms, we want to design con- trollers that work in a space of “meaningful variables‿; i.e. we don’t control joint angles directly but we control things as “position and velocity of center of mass‿, “shape of the robot’s locked inertia ellipsoid‿ [1] and “foot position‿.
    Original languageUndefined
    Title of host publication28th Benelux Meeting on Systems and Control
    EditorsM. Gevers, R. Sepulchre
    Place of PublicationBelgium
    PublisherAssociation des Ingenieurs de Montefiore
    Pages65-65
    Number of pages1
    ISBN (Print)not assigned
    Publication statusPublished - 16 Mar 2009
    Event28th Benelux Meeting on Systems and Control 2009 - Spa, Belgium
    Duration: 16 Mar 200918 Mar 2009
    Conference number: 28

    Publication series

    Name
    PublisherAssociation des Ingenieurs de Montefiore

    Conference

    Conference28th Benelux Meeting on Systems and Control 2009
    CountryBelgium
    CitySpa
    Period16/03/0918/03/09

    Keywords

    • METIS-275950
    • EWI-19783
    • IR-76371

    Cite this