Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction
文献类型：会议论文
| 作者 | Li ZH(李志海); Wu ZW(吴镇炜) ; Fu YL(付宜利)
|
| 出版日期 | 2014 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation (ICMA) |
| 会议日期 | August 3-6, 2014 |
| 会议地点 | Tianjin, China |
| 关键词 | Biped robot walking gait CPG ZMP |
| 页码 | 873-878 |
| 中文摘要 | For the locomotion control of biped robot in active/passive hybrid walking, a Central Pattern Generator based motion control strategy is proposed. The strategy uses CPG as equations with respect to the state of supporting leg, and generates proper limb movements to perform the walking gait for biped robot. The orientation angle of the limbs is used as the inner output of rhyme oscillator. Sensors input including ground reaction force and state of trunk modulate the CPG output among the biped walking. Active and passive walking phase is analyzed. And configuration of the motion generator is discussed. Then the biped walking strategy by using CPG is established. A simulation model containing collisions is established. Biped walking simulation is conducted, and the motion control system could generate a stable biped walking. Simulation results show the effectiveness of the proposed strategy. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-3979-4 |
| WOS记录号 | WOS:000366848100151 |
| 源URL | [http://ir.sia.cn/handle/173321/15402]  |
| 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 | Li ZH,Wu ZW,Fu YL. Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction[C]. 见:IEEE International Conference on Mechatronics and Automation (ICMA). Tianjin, China. August 3-6, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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