Rolling Biped Polynomial Motion Planning
Keyword(s):
This work discloses a kinematic control model to describe the geometry of motion of a two-wheeled biped’s limbs. Limb structure is based on a four-bar linkage useful to alleviate damping motion during self-balance. The robot self-balancing kinematics geometry combines with user-customized polynomial vector fields. The vector fields generate safe reference trajectories. Further, the robot is forced to track the reference path by a model-based time-variant recursive controller. The proposed formulation showed effectiveness and reliable performance through numerical simulations.
Keyword(s):
2004 ◽
Vol 198
(2)
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pp. 374-380
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Keyword(s):
Keyword(s):
2015 ◽
Vol 14
(3)
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pp. 1073-1095
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2020 ◽
Vol 23
(8)
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pp. 1585-1599
2008 ◽
Vol 15
(5)
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pp. 871-887
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