中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
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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