Control System of Biped Robot Balancing on Board

被引：0

作者：

Bazylev, Dmitry ^{[1
]}

Kremlev, Artem ^{[1
]}

Margun, Alexey ^{[1
]}

Zimenko, Konstantin ^{[1
]}

机构：

[1] ITMO Univ, St Petersburg 197101, Russia

来源：

2014 19TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2014年

关键词：

ZMP;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.

引用

页码：794 / 799

页数：6

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