Adaptive control and simulation of a seven-link biped robot for the combined trajectory motion and stability investigations

  • Authors:

  • A. Bagheri;M. E. Felezi;P. N. Mousavi

  • Affiliations:

  • Department of Mechanical Engineering, Guilan University, Rasht, Iran;Department of Mechanical Engineering, Guilan University, Rasht, Iran;Department of Mechanical Engineering, Guilan University, Rasht, Iran

  • Venue:
  • AEE'06 Proceedings of the 5th WSEAS international conference on Applications of electrical engineering
  • Year:
  • 2006

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Abstract

In this article, simulation (trajectory planning) and control of seven link biped robot on combined trajectory (three phases), have been investigated. Using mathematical interpolation for trajectory planning and designing software for the robot simulation and implementation from adaptive control process, the joint's required torques also the ZMP diagrams to stability judgment will be obtained.