Measurement and compensation of mechanical vibrations in articulations of electromechanical biped robot

Abstract

We consider practical aspects of measurement and compensation of vibrations in articulations of biped robots. Our approach extracts angular oscillations information using two types of sensors mounted at the extremity of articulation: two axis inclination meter and tree axis accelerometer. Experiments are made to confirm this measurement method. We propose modifications to F.L. Lewis et al. neuronal network vibration compensation algorithm which simplify its practical implementation.