A System for Biped Walking Robot
نویسندگان
چکیده
منابع مشابه
Planning walking patterns for a biped robot
Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. When the ground conditions and...
متن کاملSpejbl – the Biped Walking Robot
Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is exten...
متن کاملWalking trajectory control of a biped robot
A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smoot...
متن کاملA Integrated Control for a Biped Walking Robot
The main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing a neural network, which updates onlin...
متن کاملModeling and Analysis of Walking Pattern for a Biped Robot
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system control and actuator control techniques for 10 Degree of Freedom (DOF) biped humanoid. Bi-pedal robots have better mobility than conventional wheeled robots, ...
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ژورنال
عنوان ژورنال: The Journal of the Institute of Image Information and Television Engineers
سال: 2002
ISSN: 1881-6908,1342-6907
DOI: 10.3169/itej.56.101