INTELLIGENT CONTROL OF BIPED ROBOT WITH HETEROGENEOUS LEGS
نویسندگان
چکیده
منابع مشابه
Intelligent Control of Biped Robot with Heterogeneous Legs
Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joi...
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A biped robot with heterogeneous legs (BRHL) is proposed to provide an ideal test-bed for intelligent bionic legs (IBL). To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM) is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of free...
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The research of humanoid robot and intelligent prosthesis is integrated and a new-style humanoid robot named biped robot with heterogeneous legs (BRHL) is proposed to provide an ideal test-bed for intelligent bionic leg (IBL). The research background and concept of BRHL are introduced. The existed problems of common humanoid robot leg are analysed in detail. Based on bionics, the joint structur...
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Conventional models of bipedal walking generally assume rigid body structures, while elastic material properties seem to play an essential role in nature. On the basis of a novel theoretical model of bipedal walking, this paper investigate a simple model for biped robots which makes use of minimum control and elastic passive joints inspired from the structures of biological systems. The model i...
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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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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2005
ISSN: 1474-6670
DOI: 10.3182/20050703-6-cz-1902.01300