Biped robot
Designed and constructed the floating based dynamic and kinematic model for biped robot. This simulation platform contains 2nd order IK engine and floating base momentum formulations. A new kinematic impedance control algorithm is proposed for the robot compliant behavior. Rather than solving and computing the complicated dynamic model, it can achieve the same performance as inverse dynamic impedance control. This method is based on 2nd order floating based kinematic model which is much easier to calculate in both numerical and analytical form. A kinematic based adaptive control is also proposed. It allows users to control the biped robot without knowing all the kinematic parameters in advance. |
DesignDesigned and constructed the floating base kinematic and dynamic model for a biped robot. Each leg has 6 degrees of freedom.
Adaptive ControlDeveloped a kinematic based adaptive control with advantages of not knowing all the kinematic parameters in advance. |
WalkingDeveloped a 2nd order floating based IK Engine, allowing for walking control without changing control reference between stance and swing leg..
Momentum ControlFormulated a floating base momentum algorithm for both numerical and analytical solutions for biped robot.
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PushingFormulated a 2nd order floating based whole body impedance control algorithm, allowing for human robot interaction and push recovery.
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