A Balance Control Method of a Walking Biped Robot under a Continuous External Force

被引：0

作者：

Kim, Yeoun-Jae ^{[1
]}

Lee, Joon-Yong ^{[2
]}

Lee, Ju-Jang ^{[3
]}

机构：

[1] Korea Adv Inst Sci & Technol, Robot Program, Daehak Ro 291, Daejeon 305701, South Korea

[2] Iowa State Univ, Dept Genet Dev & Cell Biol, Ames, IA 50011 USA

[3] Korea Adv Inst Sci & Technol, Elect Engn Dept, Daejeon 305701, South Korea

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, PT II | 2013年 / 8103卷

关键词：

Biped robot; ZMP; Balance; External force; Optimization;

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：

In this paper, we present a force resisting balance control method of a walking biped robot under a continuous external force. The balance control method consists of two steps. The first step is to recognize the external force which is applied to the pelvis of the biped robot by ZMP position analysis. The second step is to move the joint angles of the biped robot by the pre-defined angle trajectory. The pre-defined angle trajectory is constructed by single objective optimization process and linear interpolation. We assumed that the biped robot which is used in this research has a position-controlled joint motor. And it has 12 degrees of freedom. The proposed balance control method is verified by numerical simulations.

引用

页码：237 / 245

页数：9

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