Analysis of Three-Link Position Control during Sit to Stand Motion
Keywords:Three-Link Humanoid, Sit to Stand, Mass,
AbstractThis paper presents characteristics study of Sit to Stand ( STS ) motion. There are several model of STS including telescopic inverted pendulum, single-link, two-link and threelink(3L). Of all the system, 3L are chosen because of similar segment with human body. Previous study find a difficulty to analyze STS motion especially when the mass is changes. The characteristic of STS motion is not empirically conducted on the joint of each link. Hence the objective of the work presented here is to study the effect mass changes to each joint. Results shows that there is a possibility to estimate maximum torque needed by each link with equation derive from the experiment.
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