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Development of a mathematical model and control of a bipedal robot

Abstract:

In the present work the mathematical model of a limb of the bipedal robot is developed, and an optimal control of the mechanical system is proposed using dynamic programming method of Bellman or by applying a Kalman filter, which also eliminates the noise presented in the measurements, these methods allow to obtain an optimal output of the system that coincides with the programmed movement of bipedal robot.

Año de publicación:

2020

Keywords:

    Fuente:

    googlegoogle

    Tipo de documento:

    Other

    Estado:

    Acceso abierto

    Áreas de conocimiento:

    • Control robusto
    • Robótica

    Áreas temáticas:

    • Ciencias de la computación
    • Otras ramas de la ingeniería

    Contribuidores:

    Monica RomeroMonica Romero