Design and walking pattern generation of a biped robot
نویسندگان
چکیده
منابع مشابه
Online Walking Pattern Generation for Biped Humanoid Robot with Trunk
This paper describes an online method generating walking patterns for biped humanoid robots having a trunk. Depending on the walking command, the motion patterns of the lower-limbs are created and connected to the prewalking patterns smoothly in online. For the stability of the biped robots, the trunk and the waist motion is generated by a walking stabilization control that is based on the ZMP ...
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Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called “the divergent component of motion”. These techniques allow us to generate walking...
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39 ISSN 1729‐8806, pp. 41‐50 Design, Modeling and Control of a Biped Line-Walking Robot Ludan Wang1, Fei Liu1, Shaoqiang Xu1, Zhen Wang1, Sheng Cheng1 and Jianwei Zhang1,2 1Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Kunshan, China 2TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany [email protected] Abstract: The subject of t...
متن کاملWalking Pattern Generation for Planar Biped Walking Using Q-learning
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ژورنال
عنوان ژورنال: TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES
سال: 2017
ISSN: 1300-0632,1303-6203
DOI: 10.3906/elk-1409-19