Development of control system in a biped robot with heterogeneous legs

被引：0
作者：
Xiao, Jun [1 ,2 ]
Jia, Penyu [1 ]
Xu, Xinhe [1 ]
Tan, Jindong [3 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110004, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110008, Peoples R China
[3] Michigan Technol Univ, Dept ECE, Houghton, MI 49931 USA
来源：
2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5 | 2006年
基金：
中国国家自然科学基金;
关键词：
biped robot; bionic leg; control;
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 discusses how a biped robot with heterogeneous legs imitates a person's walking from gait design, gait planning and gait control. A biped robot with heterogeneous legs(BRRL) robot consists of an artificial leg and an intelligent bionic leg. The purpose of this robot's design is to make the intelligent bionic leg follow the artificial leg's movement, which provides an excellent platform for the research of intelligent prosthetic leg. After the introduction of gait design and gait planning, a semi-active kneel control method is proposed for magneto-rheological (AIR) damper in the intelligent bionic leg. And an overall control system scheme is presented. Simulative and practical system experiments prove the validity of the presented plan and proposed algorithm.
引用
收藏
页码：1443 / +
页数：2
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