| dc.creator | Calderón, Juan M. | |
| dc.creator | Moreno, Wilfrido | |
| dc.creator | Weitzenfeld, Alfredo | |
| dc.date.accessioned | 2019-12-17T16:17:08Z | |
| dc.date.accessioned | 2022-09-28T14:28:21Z | |
| dc.date.available | 2019-12-17T16:17:08Z | |
| dc.date.available | 2022-09-28T14:28:21Z | |
| dc.date.created | 2019-12-17T16:17:08Z | |
| dc.date.issued | 2015-12-15 | |
| dc.identifier | http://hdl.handle.net/11634/20412 | |
| dc.identifier | https://doi.org/10.1007/978-3-319-28031-8_45 | |
| dc.identifier.uri | http://repositorioslatinoamericanos.uchile.cl/handle/2250/3659785 | |
| dc.description.abstract | Some important applications of humanoid robots in the nearest future
are elder care, search and rescue of human victims in disaster zones and human
machine interaction. Humanoid robots require a variety of motions and appropriate
control strategies to accomplish those applications. This work focuses on vertical
jump movements with soft landing. The principal objective is to perform soft contact
allowing the displacement of the Center of Mass (CoM) in the landing phase.
This is achieved by affecting the nominal value of the constant parameter P in the PID
controller of the knee and ankle motors. During the vertical jump phases, computed
torque control is applied. Additionally, in the landing phase, a fuzzy system is used to
compute a suitable value for P, allowing the robot to reduce the impact through CoM
displacement. The strategy is executed on a gait robot of three Degrees of Freedom
(DoF). The effect of the impact reduction is estimated with the calculations of the
CoM displacement and the impact force average during the landing phase. | |
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| dc.rights | http://creativecommons.org/licenses/by-nc-sa/2.5/co/ | |
| dc.rights | Atribución-NoComercial-CompartirIgual 2.5 Colombia | |
| dc.title | Fuzzy variable stiffness in landing phase for jumping robot | |
| dc.type | Generación de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicos | |
