RESEARCH ON UNDERACTUATED DYNAMICAL WALKING OF 3D BIPED ROBOT

被引：0
|
作者：
Tao, Sheng [1 ]
Hong-Xu, Ma [1 ]
机构：
[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha, Hunan, Peoples R China
来源：
ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS | 2007年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new underactuated 3D biped robot and its control strategy are presented. Its hybrid dynamic model is developed and gait is planned using method of time-invariant. By the feedback controller and finite-time stable control strategy, the robot realizes stable dynamical walking. Simulation results show that a stable limit cycle of dynamical walking is achieved, and proposed control strategy is feasible. Based on analyzing the relationship between walking velocity and robot configuration, a velocity control strategy is presented and validated by simulation.
引用
收藏
页码：417 / 426
页数：10
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