GAIT PLANNING AND STABILIZATION FOR BIPED ROBOT WITH ONE ACTUATOR

被引：0
|
作者：
Liang, Wenyuan [1 ]
Liu, Li Michael [1 ]
Li, Jianfei [1 ]
机构：
[1] Peking Univ, Coll Engn, Beijing, Peoples R China
来源：
ASSISTIVE ROBOTICS | 2016年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we focus on the problems of gait planning and stabilization for a three-link planar biped robot with periodic gaits in level ground. The key in designing this under actuated bipedal robot is to construct a feedback controller to realize stable locomotion. To achieve the control objectives, a time independent periodic trajectory based on the dynamic equations is designed for gait planning, and a nonlinear control including adaptive control, force control and feedback sliding mode control is designed to realize gait stabilization. In this paper, the simulation results on gait generation and stabilization are presented.
引用
收藏
页码：439 / 445
页数：7
相关论文
共 50 条
  • [1] Gait Planning for a Quadruped Robot with One Faulty Actuator
    CHEN Xianbao
    GAO Feng
    QI Chenkun
    TIAN Xinghua
    Chinese Journal of Mechanical Engineering, 2015, 28 (01) : 11 - 19
  • [2] Gait Planning for a Quadruped Robot with One Faulty Actuator
    CHEN Xianbao
    GAO Feng
    QI Chenkun
    TIAN Xinghua
    Chinese Journal of Mechanical Engineering, 2015, (01) : 11 - 19
  • [3] Gait planning for a quadruped robot with one faulty actuator
    Xianbao Chen
    Feng Gao
    Chenkun Qi
    Xinghua Tian
    Chinese Journal of Mechanical Engineering, 2015, 28 : 11 - 19
  • [4] Gait Planning for a Quadruped Robot with One Faulty Actuator
    Chen Xianbao
    Gao Feng
    Qi Chenkun
    Tian Xinghua
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2015, 28 (01) : 11 - 19
  • [5] Biped Walking Robot Gait planning research
    Chen, Hailong
    Wu, Xiao
    Du, Jun
    Tang, Jinping
    MECHATRONICS AND INTELLIGENT MATERIALS III, PTS 1-3, 2013, 706-708 : 674 - 677
  • [6] The Research on the Method of Gait Planning for Biped Robot
    Li, Pan
    Li, Kaichao
    Wei, Yifan
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I, 2017, 10462 : 39 - 50
  • [7] Gait planning and control of a novel biped robot
    Tao, Sheng
    Jian, Wang
    Hong-Xu, Ma
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1541 - 1546
  • [8] Fuzzy logic controller for stabilization of biped robot gait
    Ryadchikov, I. V.
    Sechenev, S. I.
    Gusev, A. A.
    7TH SEMINAR ON INDUSTRIAL CONTROL SYSTEMS: ANALYSIS, MODELING AND COMPUTING (ICS 2018), 2018, 18
  • [9] Gait Planning for a Biped Robot using Prediction Feedback
    Liu Juan
    Liang Zhiwei
    Hao Yue
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 5808 - 5812
  • [10] Gait analysis and planning of biped robot with heterogeneous legs
    Xie, H. L.
    Tang, L.
    Hou, S. M.
    Liu, Y. X.
    2008 PROCEEDINGS OF INFORMATION TECHNOLOGY AND ENVIRONMENTAL SYSTEM SCIENCES: ITESS 2008, VOL 1, 2008, : 1152 - 1156
12345