Abstract
One-legged robot is a class of underactuated legged robots that has been a challenging system to develop and control. There are limitless possible configurations of such system, each with its own specific advantages and limitations. This paper presents the dynamic modelling of a single contact point one-legged robot based on Euler-Lagrange formulation. The obtained equations of motion are then used as basis to develop an experimental prototype and its balancing control system. The mechanical configuration used in the prototype allows the decoupling of the control systems on the coronal and sagittal planes. The experimental results are presented.
Original language | English |
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Title of host publication | 2018 IEEE International Conference on Automatic Control and Intelligent Systems 2018 |
Publisher | IEEE |
Pages | 19-23 |
Number of pages | 5 |
ISBN (Electronic) | 9781538656549 |
DOIs | |
Publication status | Published - 6 Jan 2019 |
Event | 2018 IEEE International Conference on Automatic Control and Intelligent Systems - Shah Alam, Malaysia Duration: 20 Oct 2018 → … |
Conference
Conference | 2018 IEEE International Conference on Automatic Control and Intelligent Systems |
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Abbreviated title | I2CACIS 2018 |
Country/Territory | Malaysia |
City | Shah Alam |
Period | 20/10/18 → … |
Keywords
- Euler-Lagrange mechanics
- Limb balancing
- One-legged robot
- Reaction wheel
- Self-balancing system
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Optimization
- Modelling and Simulation