A Study on Robust Motion Control of Humanoid Type Robot for Cooperative Working

被引：0

作者：

Hwang, Won-Jun ^{[1
]}

Ha, Eun-Tae ^{[2
]}

Yang, Jun-seok ^{[3
]}

Lee, Hee-Seob ^{[4
]}

Baek, Seung-Hack ^{[5
]}

Han, Sung-Hyun ^{[6
]}

机构：

[1] Gyeongnam Technopk Co Ltd, Chang Won 641465, South Korea

[2] Future Technol Inst Co Ltd, Chang Won 642939, South Korea

[3] Kyungnam Univ, Dept Adv Engn, Chang Won 631701, South Korea

[4] Doosan Infracore Co Ltd, Chang Won, South Korea

[5] Doosan Heavy Ind & Construct Co Ltd, Chang Won 642792, South Korea

[6] Kyungnam Univ, Sch Mech Engn, Chang Won 631701, South Korea

来源：

2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年

关键词：

Stable Walking; Control Algorithm; Humanoid Robot; Robust Walking;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a new technology for real-time walking of a humanoid robot. A humanoid robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.

引用

页码：1262 / 1264

页数：3

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