Development of control system in a biped robot with heterogeneous legs
文献类型：会议论文
| 作者 | Xiao J(肖军); Jia, Penyu; Xu XH(徐心和); Tan JD(谈金东) |
| 出版日期 | 2006 |
| 会议名称 | 9th International Conference on Control, Automation, Robotics and Vision |
| 会议日期 | December 5-8, 2006 |
| 会议地点 | Singapore, SINGAPORE |
| 关键词 | biped robot bionic leg control |
| 页码 | 1-6 |
| 通讯作者 | 肖军 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0341-7 |
| WOS记录号 | WOS:000246927402083 |
| 源URL | [http://ir.sia.cn/handle/173321/19867]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Xiao J,Jia, Penyu,Xu XH,et al. Development of control system in a biped robot with heterogeneous legs[C]. 见:9th International Conference on Control, Automation, Robotics and Vision. Singapore, SINGAPORE. December 5-8, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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