Affiliation:
1. Faculty of Technical Sciences, University of Novi Sad, Trg D. Obradovića 6 Novi Sad, 21000, Serbia
Abstract
It is expected that the humanoid robots of the near future will "live" and work in a common environment with humans, which imposes the requirement that their operative efficiency ought to be close to that of humans. The main prerequisite to achieve this is to ensure the robot's efficient motion, which is its ability to compensate for the ever-present disturbances. The work considers the different strategies of how to compensate for the large disturbances that jeopardize the robot's dynamic balance in a most direct way, as well as the requirements to be met in the control synthesis. The ways in which such compensation can be efficiently realized are proposed and then verified by simulation.
Publisher
World Scientific Pub Co Pte Lt
Subject
Artificial Intelligence,Mechanical Engineering
Cited by
10 articles.
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