Modeling and control system simulation for 5-link biped robot

2014 ◽  
Author(s):  
Chuangfeng Huai ◽  
Xueyan Jia
Keyword(s):  
Control System ◽  
System Simulation ◽  
Biped Robot ◽  
Modeling And Control ◽  
And Control

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

Modeling and Control of Wheel Motor Based Articulated Vehicle System

2019 ◽  
Author(s):  
Heeseong Kim ◽  
Taehyun Shim ◽  
Byungjun Sung
Keyword(s):  
Control System ◽  
Dynamic Control ◽  
Modeling And Control ◽  
Yaw Control ◽  
Articulated Vehicle ◽  
Vehicle Systems ◽  
Vehicle Dynamic Control ◽  
And Performance ◽  
Traction System ◽  
And Control

Abstract This paper investigates an effectiveness of vehicle dynamic control (VDC) system based on torque vectoring technique using in-wheel-motors to improve the performance of articulated vehicle systems. A 10 degree-of-freedom (DOF) articulated vehicle model including a tractor and a single axle trailer has been developed and its responses are validated with commercial vehicle software of Trucksim. This model includes a nonlinear tire model (MF tire), a hydraulic damping at the hitch, and a traction system using in-wheel-motors at the trailer axle. In this paper, a yaw control system is developed to track the reference yaw rate with application of yaw moment at the trailer axle using torque distribution of in-wheel-motors. The effectiveness of the proposed control system is validated through simulation of sinusoidal steering maneuver on high mu and slippery road conditions. The simulation results show that in-wheel-motors can improve safety and performance of articulate vehicle systems.

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