This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.
- Design Engineering Division and Computers and Information in Engineering Division
Landing Posture Control of a Generalized Twin-Body System Via Methods of Input-Output Linearization and Computed Torque
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Yang, Y, Chao, PC, & Sung, C. "Landing Posture Control of a Generalized Twin-Body System Via Methods of Input-Output Linearization and Computed Torque." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 273-280. ASME. https://doi.org/10.1115/DETC2007-34362
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