Control of Biped Walking Robot Using Equations of the Inverted Pendulum

被引：0

作者：

Tereshin, Valeriy ^{[1
]}

Borina, Anastasiya ^{[1
]}

机构：

[1] St Petersburg State Polytech Univ, St Petersburg, Russia

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2015年

关键词：

Walking robot; Movement control; Dynamic stability;

D O I：

10.1007/978-3-319-15684-2_4

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a control method for a 3-D biped robot walking in different modes:walking in the up or down direction, walking up stairs or down stairs, and rotation. The control strategy is developed on a simplified model of the robot and then verified on a more realistic model (Pott A, Kecskemethy A, Hiller M (2007) Mech Mach Theory 11:1445-1461). This paper includes the results of the numerical solutions, showing stepping on and off a 0.1 m high platform, walking in the down direction (surface slope angle is 0.02 rad), and rotation on the second step by a 0.3 rad angle.

引用

页码：23 / 31

页数：9

共 13 条

[1]

Andrienko P, 2013, NAUKA OBRAZOVANIE, V3, P623

[2]

Beletsky V, 1975, IZV AN SSSR MTT, V3, P3

[3] Closed-form solutions of inverse kinematic models for the control of a biped robot with 8 active degrees of freedom per leg [J].

Bertrand, S. ;

Bruneau, O. ;

Ouezdou, F. B. ;

Alfayad, S. .

MECHANISM AND MACHINE THEORY, 2012, 49 :117-140

[4]

Borina A, 2012, NAUKS OBRAZOVANIE, V2, P177

[5]

Borina A, 2014, NAUKS OBR NAUCHN PRA, P160

[6]

Borina A, 2013, NAUKS OBR NAUCHN PRA, P631

[7] Clearance influence analysis on mechanisms [J].

Parenti-Castelli, V ;

Venanzi, S .

MECHANISM AND MACHINE THEORY, 2005, 40 (12) :1316-1329

[8]

Petrov G, 2009, INFORM TELEKOMUNIKAT, V6, P239

[9] A simplified force-based method for the linearization and sensitivity analysis of complex manipulation systems [J].

Pott, Andreas ;

Kecskemethy, Andres ;

Hiller, Manfred .

MECHANISM AND MACHINE THEORY, 2007, 42 (11) :1445-1461

[10] A sequentially-defined stiffness model of the knee [J].

Sancisi, Nicola ;

Parenti-Castelli, Vincenzo .

MECHANISM AND MACHINE THEORY, 2011, 46 (12) :1920-1928

← 1 2 →