A Hybrid Mechatronic Tilting Robot: Modeling, Trajectories, and Control

Authors:	Sobotka Marion, Technische Universitaet Muenchen, Germany Buss Martin, Technische Universitaet Muenchen, Germany
Topic:	1.3 Discrete Event and Hybrid Systems
Session:	Analysis and Design of Hybrid Systems III
Keywords:	Trajectory Planning, Hybrid Systems

Abstract

Tilting around the foot edges is rarely considered in the modeling of walking robots. This paper uses a hybrid modeling framework to account for different possible ground contact situations of a robot foot. Heuristic trajectory planning is discussed for a robot with five joints and two feet and a method to compensate deficiencies of the planned trajectories by controlling the ZMP is introduced.