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

共 50 条

[31] Compensatory motion control for a biped walking robot
Lim, HO
Takanishi, A
ROBOTICA, 2005, 23 : 1 - 11
[32] Design and control of a biped walking and jogging robot
Gienger, M
Löffler, K
Pfeiffer, F
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99, 1999, : 49 - 58
[33] Energy shaping control of biped walking robot
Liu, D.-J. (dejunliu@126.com), 1600, South China University of Technology (29):
[34] Biped Robot Walking Based on Imitation Control
Lee, Sang Hyup
Oh, Dong-Pyo
Shon, Su Goog
INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014), 2014, : 709 - 715
[35] Position/force control of biped walking robots
Silva, FM
Machado, JAT
SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5, 2000, : 3288 - 3293
[36] Realtime ZMP compensation for biped walking robot using adaptive inertia force control
Okumura, Y
Tawara, T
Endo, K
Furuta, T
Shimizu, M
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 335 - 339
[37] Kinetic Energy Attenuation Method for Posture Balance Control of Humanoid Biped Robot under Impact Disturbance
Gao, Liyang
Wu, Weiguo
IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2018, : 2564 - 2569
[38] Incremental fuzzy control for a biped robot balance
Cuevas, E
Zaldívar, D
Rojas, R
PROCEEDINGS OF THE SIXTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS, 2005, : 7 - 12
[39] Optimized Walking Control of a Biped Walking Robot Considering Theory of a Pendulum
Koike, Hisashi
Lee, Jae Hoon
Okamoto, Shingo
PROCEEDINGS OF THE EIGHTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 18TH '13), 2013, : 352 - 355
[40] A static balance control under periodic external force
Ito, S
Aoyama, Y
Kawasaki, H
SICE 2003 ANNUAL CONFERENCE, VOLS 1-3, 2003, : 1967 - 1972

← 1 2 3 4 5 →