Trajectory planning and control for a five-degree-of-freedom biped locomotion system

Jiann-Shiou Yang, Ahmed Shahabuddin

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations

Abstract

In this paper, a study on a five-degree-of-freedom biped locomotion system is performed. The angles of the hip and knee joints for the biped walking gait were generated. Based on the dynamic model and joint trajectories of the walking gait, an adaptive inverse dynamics control scheme consisting of a control law and an adaptation law was used to control the biped motion. To improve the convergence of the estimated parameters, we modify the timing of applying the adaptation by incorporating a dead zone operation. Our simulation results show that the adaptive control technique can be effectively used for the biped locomotion system.

Original languageEnglish (US)
Pages (from-to)3105-3109
Number of pages5
JournalProceedings of the American Control Conference
Volume3
StatePublished - Dec 1 1994
EventProceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA
Duration: Jun 29 1994Jul 1 1994

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