Research on Rapid Walking of Biped Robot Based on Parametric Surface Table Cart Model

被引：0
|
作者：
Wu Wei-guo [1 ]
Hou Yue-yang [1 ]
机构：
[1] Harbin Inst Technol, Dept Machine Design, Humanoid & Gorilla Robot & Its Intelligent Mot Co, Harbin 150001, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年
关键词：
PATTERN GENERATION;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot is completed in the dynamic software, the walking speed is 2.088km/h.
引用
收藏
页码：463 / 468
页数：6
相关论文
共 50 条
  • [1] Based on Biped Robot Walking in Horizontal Surface Research of Dynamic Simulation
    Wang Hongbo
    [J]. ADVANCED MEASUREMENT AND TEST, PTS 1-3, 2011, 301-303 : 707 - 712
  • [2] A Control Law for Human Like Walking Biped Robot SHERPA Based on a Control and a Ballistic Phase - Application on the Cart-Table Model
    Bachelier, Marc
    Chemori, Ahmed
    Krut, Sebastien
    [J]. 2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 201 - 206
  • [3] Research on Walking Gait of Biped Robot Based on a Modified CPG Model
    Lu, Qiang
    Tian, Juan
    [J]. MATHEMATICAL PROBLEMS IN ENGINEERING, 2015, 2015
  • [4] Research on walking gait based on biped soccer robot
    Yang, Jing-Dong
    Hong, Bing-Rong
    Huang, Qing-Cheng
    [J]. Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2005, 37 (07): : 876 - 878
  • [5] Development and Experiment of a Kneed Biped Walking Robot Based on Parametric Excitation Principle
    Banno, Yoshihisa
    Harata, Yuji
    Taji, Kouichi
    Uno, Yoji
    [J]. 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011, : 2735 - 2740
  • [6] 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
  • [7] Parametric excitation walking of a biped robot using counter weight
    Hayashi T.
    Asano F.
    Kaneko K.
    Zhi-Wei L.U.O.
    Kato A.
    [J]. Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 2010, 76 (768): : 2117 - 2126
  • [8] Research on simulation based on HIT-IV biped walking robot
    Yan, S
    Ma, L
    Qiang, W
    [J]. CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES, 2003, : 567 - 575
  • [9] Model decoupling and walking programming of biped robot
    Chen, Y
    Cao, WP
    [J]. ISTM/2005: 6th International Symposium on Test and Measurement, Vols 1-9, Conference Proceedings, 2005, : 7280 - 7283
  • [10] Pattern generation of biped walking constrained on parametric surface
    Morisawa, M
    Kajita, S
    Kaneko, K
    Harada, K
    Karrehiro, F
    Fujiwara, K
    Hirukawa, H
    [J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 2405 - 2410
12345