Dynamic Balance Control of Biped Robot Using Optimized SLFNs

被引：0
作者：
Yang, Liang [1 ,2 ]
Liu, Zhi [1 ]
Zhang, Yun [1 ]
机构：
[1] Guangdong Univ Technol, Fac Automat, Guangzhou 510006, Guangdong, Peoples R China
[2] Univ Elect Sci & Technol China, Zhongshan Inst, Sch Comp Engn, Zhongshan 528402, Peoples R China
来源：
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词：
ZMP; Biped Robot; Extreme Learning Machine; CoM; Yaw moment;
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 proposes a dynamic balance control scheme for controlling biped robot to achieve better locomotion stability and energy efficiency. After analyzing the moment equilibrium conditions, a optimized control scheme is proposed to improve the control performance, which differs from those previously proposed schemes in that it additionally contains an optimized learning mechanism. Using optimized SLFNs to approximate the nonlinear relationship between ZMP error and CoM(Center of Mass) position and an online algorithm to correct ZMP error, the proposed control scheme exhibits a good control performance. The simulation results are provided to validate the proposed method.
引用
收藏
页码：5303 / 5307
页数：5
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