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Trajectory tracking problem for a redundantly actuated walking robot

Lipiński K.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

743-752

In the paper, dynamics of the waking robots is considered. The robots under consideration are variable degrees of freedom systems. As in any variable degrees of freedom systems, in some of the configurations, the number of actuators exceeds the number of the system degrees of freedom. Thus alternative joint actuations can lead to the same motion of the robot. Such configuration is tested in the paper. In the redundantly actuated case, the traditional kinematics and dynamics cannot be applied directly. Different actuation strategies are tested on an exemplary test system. The main focus is set on the multibody model and on symmetrical/asymmetrical actuation strategy.