Cost Oriented Control of Humanoid Robots

被引：0

作者：

Mehmeti, Xh. ^{[1
]}

Kopacek, P. ^{[2
]}

Hajrizi, E. ^{[1
]}

机构：

[1] UBT Higher Educ Inst, Prishtina 10000, Kosovo

[2] Vienna Univ Technol, Inst Mech & Mechatron, IHRT Favoritenstr 9-11-E325 A6, A-1040 Vienna, Austria

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 25期

关键词：

humanoid robots; control; walking; cost oriented;

D O I：

10.1016/j.ifacol.2019.12.451

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

As humanoid robots assume more important roles in applicable areas, they are expected to operate in the environment for human, to adapt to unknown environment and to replace humans in hazardous operations. There is a large number of publications which closely elaborate and scrutinize issues regarding the control of humanoid robots available but only few are based on modern control theories. Furthermore, according to the new headline "Cost Oriented Humanoid Robots - COHR" the new control concept has to fulfil in addition other features. Therefore, main purpose of this paper is to develop control system for humanoid robots that are cheaper than the current state-of-the-art. The new control concept will be implemented and tested on the real COHR robot (ARCHIE) available at the IHRT (Intelligent Handling and Robotics). (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：87 / 90

页数：4

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