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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 occurrence of singularities in the decoupling matrix.
Paper presents global feedback linearisation problem for a 3-link underactuated pendulum. Singularities of decoupling matrix are analysed and removed by additional physical parameters requirements. Preliminaries for the class of nonlinear singularity-free feedback linearisation controlled systems are estimated.
— 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 singularities 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 robot… (More)
The goal of this paper is to prepare a framework for working with a planar biped robot model during different support phases. An approach to modelling and control of a biped model with feet and arms is presented. Partial feedback linearisation is used as a standard control method that moves the robot between key positions using trajectories calculated by… (More)