Modeling and Control of a 3 DOF Monoped Robot

Interests and motivations towards enhanced humanoid robots considering their applications have grown in recent years. In the present stuudy a 3–link monoped robot is studied. This robot can be used in several applications such as artificial legs and biped robots. We have simulated and controlled a model of the monoped robot by "the inverse dynamics" method and concluded that an adaptive scheme is required to set the proportional and derivative gains during different giat phases.