Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model

被引：0

作者：

Meng, Xiang ^{[1
]}

Yu, Zhangguo ^{[2
,3
]}

Huang, Gao ^{[2
,3
]}

Chen, Xuechao ^{[2
,4
]}

Qi, Weijie ^{[1
]}

Huang, Qiang ^{[2
,4
]}

Su, Bo ^{[5
]}

机构：

[1] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China

[2] Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robot & Syst, Beijing 100081, Peoples R China

[3] Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China

[4] Minist Educ, Int Joint Res Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China

[5] China North Vehicle Res Inst, Beijing 100072, Peoples R China

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO) | 2019年

基金：

北京市自然科学基金; 中国国家自然科学基金;

关键词：

EFFICIENT;

D O I：

10.1109/arso46408.2019.8948795

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.

引用

页码：174 / 179

页数：6

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