Stabilizing Control of High-Speed Walking Robot by Walking Pattern Regulator.

نویسندگان

چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Humanoid Robot LOLA– Research Platform for High-speed Walking

This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentra...

متن کامل

Trajectory control of a bipedal walking robot

In this paper we exploit some interesting properties of a class of 2D bipedal robots which have an inertial disc. One of this properties is the ability to control every position and speed except for the disc position. The proposed control is designed in two hierarchic levels. The first will drive the robot geometry, while the second will control the speed and also the angular momentum. The expo...

متن کامل

Motion Control of a Bipedal Walking Robot

This paper investigates the performance of different control schemes applied on a 5-link biped robot by simulation studies. The primary controller are implemented with a conventional Proportional Derivative (PD) controller and Computed Torque controller, later enhanced with Active Force Control (AFC). The mathematical modeling and motion control for a bipedal walking robot in this paper consist...

متن کامل

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...

متن کامل

MUSIC AND WALKING SPEED Music and Walking Speed*

Walking speed was timed for male and female pedestrians on a public sidewalk with fast, slow, or no music playing in the background (n = 20 per condition). Pedestrians in the fast music condition walked more rapidly than those in the other two conditions. Slow music did not reduce walking speed, relative to the no music condition. Walking speed did not differ by gender in any of the three condi...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of the Robotics Society of Japan

سال: 2000

ISSN: 0289-1824,1884-7145

DOI: 10.7210/jrsj.18.1122