— The feedback linearisation technique is used in order to control an underactuated 5-link biped model. A dynamic model with impacts is described and used for simulation. The choice of either absolute or relative angles for output function is briefly discussed and configuration space is checked for the occurance of singularities in the decoupling matrix.
— The aim of this work is to show a straightforward implementation of a very simple nonlinear control method on the small biped robot. The kinematic model is derived using basic Lie groups theory and the dynamic model is calculated by a recursive Newton-Euler algorithm. The model is considered at all times fully-actuated and a single forward step is… (More)
—The paper presents an analysis of dynamic singu-larities in n-link pendulum-like models that are controlled using input-output feedback linearisation. The dynamic singularities are caused by the decoupling matrix being singular for particular configurations. The examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like… (More)