Distributed control of gait for a humanoid robot

被引：0

作者：

Wyeth, G ^{[1
]}

Kee, D ^{[1
]}

机构：

[1] Univ Queensland, Sch Informat Technol & Elect Engn, St Lucia, Qld 4072, Australia

来源：

ROBOCUP 2003: ROBOT SOCCER WORLD CUP VII | 2004年 / 3020卷

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper describes a walking gait for a humanoid robot with a distributed control system. The motion for the robot is calculated in real time on a central controller, and sent over CAN bus to the distributed control system. The distributed control system loosely follows the motion patterns from the central controller, while also acting to maintain stability and balance. There is no global feedback control system; the system maintains its balance by the interaction between central gait and "soft" control of the actuators. The paper illustrates a straight line walking gait and shows the interaction between gait generation and the control system. The analysis of the data shows that successful walking can be achieved without maintaining strict local joint control, and without explicit global balance coordination.

引用

页码：703 / 711

页数：9