Inverse kinematics and inverse dynamics for control of a biped walking machine

DOI10.1002/ROB.4620100408zbMath0776.70006OpenAlexW2169426407MaRDI QIDQ4202910

Ching-Long Shih, Tsu-Tian Lee, William A. Gruver

Publication date: 14 November 1993

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100408

zbMATH Keywords

feedforward controlNewton-Euler equationsmotion planningreference inputsjoint torques12 degree-of-freedom machineforward-walking trajectory

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (2)

A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators ⋮ Modeling, stability and control of biped robots --- a general framework

Cites Work

• Some finite state aspects of legged locomotion
• Studies of human locomotion via optimal programming
• A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
• A Control Theoretic Study on Dynamical Biped Locomotion
• Postural stability of the two-degree-of-freedom biped by general linear feedback

This page was built for publication: Inverse kinematics and inverse dynamics for control of a biped walking machine