DEVELOPMENT OF AN INTEGRATED PERCEPTUAL FOOT SYSTEM FOR HUMANOID ROBOTS
文献类型：期刊论文
| 作者 | Wu, BY ; Shen, F ; Ren, Y ; Luo, JF ; Wu, ZC |
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 2012 |
| 卷号 | 27期号:2页码:217 |
| 关键词 | ZERO MOMENT POINT WALKING |
| ISSN号 | 0826-8185 |
| 通讯作者 | Wu, BY: Chinese Acad Sci, Inst Phys Sci, Beijing 100864, Peoples R China. |
| 中文摘要 | The realization of dynamic and stable walking anthropomorphically for humanoid robots to step on various kinds of uneven environments has long been considered as the research emphasis in the field of humanoid robot. The foot system constitutes the element which ensures the interaction between the humanoid robot and the environment. Apart from supporting the whole weight of robot and sensing the external forces exerted by the foot system on the ground during walk, perception of effective contact area (ECA) and foot postures are indispensably important information supports for various control schemes. This paper describes our research efforts aimed at an integrated perceptual foot (IPF) system which is designed by the conception derived from human foot motion mechanism. The IPF system possesses the capability to perceive the external forces/torques, ECA distribution, foot postures, zero moment point trajectory and topography conditions, etc. And the feasibility and validity of each sensor system in IPF system are experimentally tested on the humanoid robot platform BHR-2, which provide useful information support as possible to achieve some new and effective control schemes for humanoid robots. |
| 收录类别 | SCI |
| 资助信息 | National Project of High-tech and Research Program ("863" project) [2008AA04Z205]; National 863 Key Project [2008AA0420601]; Intelligent Robotics Institute of Beijing Institute of Technology |
| 语种 | 英语 |
| 公开日期 | 2013-09-17 |
| 源URL | [http://ir.iphy.ac.cn/handle/311004/35884]  |
| 专题 | 物理研究所_物理所公开发表论文_物理所公开发表论文_期刊论文 |
| 推荐引用方式 GB/T 7714 | Wu, BY,Shen, F,Ren, Y,et al. DEVELOPMENT OF AN INTEGRATED PERCEPTUAL FOOT SYSTEM FOR HUMANOID ROBOTS[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2012,27(2):217. |
| APA | Wu, BY,Shen, F,Ren, Y,Luo, JF,&Wu, ZC.(2012).DEVELOPMENT OF AN INTEGRATED PERCEPTUAL FOOT SYSTEM FOR HUMANOID ROBOTS.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,27(2),217. |
| MLA | Wu, BY,et al."DEVELOPMENT OF AN INTEGRATED PERCEPTUAL FOOT SYSTEM FOR HUMANOID ROBOTS".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 27.2(2012):217. |
入库方式： OAI收割
来源：物理研究所
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