Open Access

ABSTRACT

Control of Walking Robot by Inverse Dynamics of Link Mechanisms Using FEM

by S. Okamoto¹, H. Noguchi²

1 School of Open and Environmental Systems, Keio University, Japan
2 Department of System Engineering, Keio University, Japan

The International Conference on Computational & Experimental Engineering and Sciences 2007, 2(4), 131-136. https://doi.org/10.3970/icces.2007.002.131

Abstract

This paper presents a control of walking robot by using inverse dynamics of link mechanisms, which has already been proposed and applied in several in-plane motions. In this method, FEM is used for the discretization of equations of motion. This method calculates nodal forces by evaluating equations of motion in a matrix form, and thus information from the entire system can be handled efficiently, and the torques input to each joint of link mechanisms to achieve required motion are calculated easily. This method is suitable to the feed-forward control of closed-loop or continuously link mechanisms. In this paper, this inverse dynamics method is applied to the transverse walking problem of a robot and the control experiment is also conducted. The results illustrate the potential of the proposed method for the control of walking motion of robot.

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