A hybrid mechatronic tilting robot: Modeling, trajectories, and control

Marion Sobotka; Martin Buss

doi:10.3182/20050703-6-cz-1902.00325

A hybrid mechatronic tilting robot: Modeling, trajectories, and control

Marion Sobotka
, Martin Buss

Chair of Automatic Control Engineering

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Tilting around the foot edges is rarely considered in the modeling of walking robots. This paper uses a hybrid modeling framework to account for diφerent possible ground contact situations of a robot foot. Heuristic trajectory planning is discussed for a robot with φve joints and two feet and a method to compensate deφciencies of the planned trajectories by controlling the ZMP is introduced.

Original language	English
Title of host publication	Proceedings of the 16th IFAC World Congress, IFAC 2005
Publisher	IFAC Secretariat
Pages	241-246
Number of pages	6
ISBN (Print)	008045108X, 9780080451084
DOIs	https://doi.org/10.3182/20050703-6-cz-1902.00325
State	Published - 2005

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	16
ISSN (Print)	1474-6670

Keywords

Hybrid systems
Trajectory planning

Access to Document

10.3182/20050703-6-cz-1902.00325

Cite this

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title = "A hybrid mechatronic tilting robot: Modeling, trajectories, and control",

abstract = "Tilting around the foot edges is rarely considered in the modeling of walking robots. This paper uses a hybrid modeling framework to account for diφerent possible ground contact situations of a robot foot. Heuristic trajectory planning is discussed for a robot with φve joints and two feet and a method to compensate deφciencies of the planned trajectories by controlling the ZMP is introduced.",

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AB - Tilting around the foot edges is rarely considered in the modeling of walking robots. This paper uses a hybrid modeling framework to account for diφerent possible ground contact situations of a robot foot. Heuristic trajectory planning is discussed for a robot with φve joints and two feet and a method to compensate deφciencies of the planned trajectories by controlling the ZMP is introduced.

KW - Hybrid systems

KW - Trajectory planning

UR - https://www.scopus.com/pages/publications/79960728237

U2 - 10.3182/20050703-6-cz-1902.00325

DO - 10.3182/20050703-6-cz-1902.00325

M3 - Conference contribution

AN - SCOPUS:79960728237

SN - 008045108X

SN - 9780080451084

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

SP - 241

EP - 246

BT - Proceedings of the 16th IFAC World Congress, IFAC 2005

PB - IFAC Secretariat

ER -

A hybrid mechatronic tilting robot: Modeling, trajectories, and control

Abstract

Publication series

Keywords

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