Control and Simulation of Humanoid Running Robot

  title={Control and Simulation of Humanoid Running Robot},
  author={Wang Zhi-guo},
The control scheme of each joint driving torque and forward speed for humanoid running robot was proposed when the robot was running. The control algorithm for each joint torque of the robot was realized by using the impendence control according to deducing the dynamical equation in three dimensions of the robot and the trajectories of the center of mass (COM) and two feet of the robot. Next, the forward speed of the robot was controlled by adjusting the angle between the ‘Virtual Leg’ and the… CONTINUE READING

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