On-line computational scheme for dynamic walking of anthropomorphic biped robots
文献类型：会议论文
| 作者 | Tan GZ(谭冠政); Liang F(梁丰); Wang YC(王越超)
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| 出版日期 | 2002 |
| 会议名称 | 4th World Congress on Intelligent Control and Automation |
| 会议日期 | June 10-14, 2002 |
| 会议地点 | Shanghai, China |
| 关键词 | Algorithms Anthropomorphic robots Biped locomotion Computational methods Kinematics Mobile robots Motion control Online systems Real time systems |
| 页码 | 799-804 |
| 中文摘要 | Based on the Luh-Walker-Paul's algorithm, a new and more effective on-line computational scheme used for real-time control of dynamic walking of anthropomorphic biped robots is developed. This scheme includes two algorithms, one is the famous Luh-Walker-Paul's algorithm used for the single-foot supporting phase, and another is called IDADFS algorithm which is developed in this paper and used for the double-feet supporting phase. In IDADFS algorithm, the authors not only have given the recursive formulas for the kinematic and dynamic computations but also have proposed three criteria to examine the correctness of these computations. By means of this new computational scheme, one can perform precise real-time control for the dynamic walking of anthropomorphic biped robots. It should be pointed out that the research result of this paper can be also spread to multilegged robots. The more important is that the IDADFS algorithm also can be generalized to the manipulators with an open kinematic chain to realize the real-time control over this kind of manipulators when they execute closed-chain operating tasks or multirobots coordinative manipulations. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat |
| 会议录 | PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 0-7803-7268-9 |
| WOS记录号 | WOS:000179017500170 |
| 源URL | [http://ir.sia.cn/handle/173321/9214]  |
| 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 | Tan GZ,Liang F,Wang YC. On-line computational scheme for dynamic walking of anthropomorphic biped robots[C]. 见:4th World Congress on Intelligent Control and Automation. Shanghai, China. June 10-14, 2002. |
入库方式： OAI收割
来源：沈阳自动化研究所
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