Control Algorithm for Inner Skeleton Frame Type Biped Walking Robot.
نویسندگان
چکیده
منابع مشابه
Walking 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...
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A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a 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 smooth transition...
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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...
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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...
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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...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1999
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.65.1029