OTHER
Control of a Biped Robot Using the Robot Operating System
Eduardo Henrique Maciel, Renato Ventura Bayan Henriques, Walter Fetter Lages
- Year
- 2014
- Citations
- 7
Abstract
This paper presents the development of a simplified model of the lower limbs of a biped robot, composed, basically, of a waist, two femurs, two tibiae and two feet. This mechanical structure has six degrees of freedom and has the approximate dimensions of a human being. The control system was implemented on the Robot Operating System (ROS). Contrariwise to most ROS controllers, a multi-input, multi-output (MIMO) controller using the computed-torque technique is proposed. The Gazebo simulator is used to validate the model and the control system.
Keywords
RobotTorqueController (irrigation)Control theory (sociology)Computer scienceDegrees of freedom (physics and chemistry)Control systemRobot kinematicsControl engineeringRobot control
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