Gait planning optimization method for biped robots compliant walking on uneven terrain

被引：0
|
作者：
Zhong, Haoran [1 ]
Li, Xinyu [1 ]
Gao, Liang [1 ]
Xie, Sicheng [1 ]
机构：
[1] State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan,430074, China
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2021年 / 49卷 / 07期
关键词：
Conventional methods - Optimal controls - Optimization method - Optimization problems - Spring loaded inverted pendulums - Uneven terrain - Velocity compensation - Velocity tracking;
D O I：
10.13245/j.hust.210717
中图分类号：
学科分类号：
摘要：
引用
收藏
页码：97 / 102
相关论文
共 50 条
  • [21] Gait planning for biped locomotion on slippery terrain
    Brandao, Martim
    Hashimoto, Kenji
    Santos-Victor, Jose
    Takanishi, Atsuo
    [J]. 2014 14TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2014, : 303 - 308
  • [22] Robust Analysis of Biped Walking on Uneven Terrain Using Output Zeroing Control with Trajectory Optimization
    Sasaki, Hiroki
    Chang, Junho
    Takano, Rin
    Yamakita, Masaki
    [J]. 45TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2019), 2019, : 527 - 532
  • [23] Walking Robots Dynamic Control Systems on an Uneven Terrain
    Vladareanu, Luige
    Tont, Gabriela
    Ion, Ion
    Munteanu, Mihai Stelian
    Mitroi, Daniel
    [J]. ADVANCES IN ELECTRICAL AND COMPUTER ENGINEERING, 2010, 10 (02) : 145 - 152
  • [24] A fuzzy system for gait adaptation of biped walking robots
    Bebek, O
    Erbatur, K
    [J]. CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2, 2003, : 669 - 673
  • [25] Biped Walking Robot Gait planning research
    Chen, Hailong
    Wu, Xiao
    Du, Jun
    Tang, Jinping
    [J]. MECHATRONICS AND INTELLIGENT MATERIALS III, PTS 1-3, 2013, 706-708 : 674 - 677
  • [26] Study on gait planning of parallel biped robots
    Fan, SC
    Wang, XH
    Han, SK
    Zhang, SX
    Gu, HR
    [J]. ISTM/2005: 6TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-9, CONFERENCE PROCEEDINGS, 2005, : 7266 - 7268
  • [27] Biped Robot Walking on Uneven Terrain Using Impedance Control and Terrain Recognition Algorithm
    Yoo, Sung Min
    Hwang, Sung Wook
    Kim, Deok Ha
    Park, Jong Hyeon
    [J]. 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2018, : 293 - 298
  • [28] A novel hierarchical control strategy for biped robot walking on uneven terrain
    Dong, Chencheng
    Chen, Xuechao
    Yu, Zhangguo
    Huang, Zelin
    Li, Qingqing
    Zhou, Qinqin
    Huang, Qiang
    [J]. 2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2019, : 140 - 145
  • [29] Biped Robots With Compliant Joints for Walking and Running Performance Growing
    Maiorino, Andrea
    Muscolo, Giovanni Gerardo
    [J]. FRONTIERS IN MECHANICAL ENGINEERING-SWITZERLAND, 2020, 6
  • [30] Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model
    Meng, Xiang
    Yu, Zhangguo
    Huang, Gao
    Chen, Xuechao
    Qi, Weijie
    Huang, Qiang
    Su, Bo
    [J]. 2019 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO), 2019, : 174 - 179
12345