A new real-time control method for free locomotion in a walking robot

被引：0
|
作者：
Soto, JEV [1 ]
机构：
[1] Univ Nacl Autonoma Mexico, Ctr Instrumentos, Mexico City 04510, DF, Mexico
来源：
INTERNATIONAL JOURNAL OF COMPUTER APPLICATIONS IN TECHNOLOGY | 1998年 / 11卷 / 1-2期
关键词：
legged locomotion; real-time control; robotics; walking machines;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents a new real-time control method for free locomotion in a walking robot. The walking robot, named RIMHO, has been developed as an exercise in expert control of legged locomotion. A brief description of the robot and its model are given. A description of the relationship between the machine level and the control station level is presented. The paper also presents a new free locomotion method for forward and turning gaits. The locomotion method shows an interesting phrasing to solve the stability problem at the beginning of locomotion from any initial configuration of the robot. The new real-time control method is used by a human to operate the robot using a virtual reality representation in the control station machine. In this way, a three-dimensional graphical representation in real time is used to test the effectiveness of the locomotion.
引用
收藏
页码：77 / 83
页数：7
相关论文
共 50 条
  • [1] A Real-Time Implementation of Walking Control for Humanoid Robot
    Sung, Ki-Won
    Kim, Min-Sung
    Park, In-Man
    Le Xuan Thu
    Han, Sung-Hyun
    2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2012, : 1882 - 1885
  • [2] REAL-TIME COMPUTER CONTROL OF A QUADRUPED WALKING ROBOT
    LEE, TT
    SHIH, CL
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1986, 108 (04): : 346 - 353
  • [3] THE REACTION FORCES IN REAL-TIME CONTROL FOR MODULAR WALKING ROBOT LEGS
    Vladareanu, Luige
    Ion, Ion
    Simionescu, Ion
    EMERGING TRENDS IN MOBILE ROBOTICS, 2010, : 81 - +
  • [4] REAL-TIME NEURAL-NETWORK CONTROL OF A BIPED WALKING ROBOT
    MILLER, WT
    IEEE CONTROL SYSTEMS MAGAZINE, 1994, 14 (01): : 41 - 48
  • [5] A real-time walking robot control system based on Linux RTAI
    Deng Liming
    Zhao Xianchao
    Qi Chenkun
    Gao Feng
    2013 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2013, : 530 - 534
  • [6] Real-Time Remodeling of Granular Terrain for Robot Locomotion
    Karsai, Andras
    Kerimoglu, Deniz
    Soto, Daniel
    Ha, Sehoon
    Zhang, Tingnan
    Goldman, Daniel, I
    ADVANCED INTELLIGENT SYSTEMS, 2022, 4 (12)
  • [7] Quasi real-time walking control of a bipedal humanoid robot - Based on walking pattern synthesis
    Setiawan, SA
    Hyon, SH
    Yamaguchi, J
    Takanishi, A
    EXPERIMENTAL ROBOTICS VI, 2000, 250 : 309 - 318
  • [8] A real-time planning and control strategy of humanoid robot walking on irregular terrain
    Sheng, Tao
    Wang, Jian
    Ma, Hongxu
    Qin, Haili
    WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 70 - 70
  • [9] Study on the real-time walking control of a humanoid robot using fuzzy algorithm
    Kong, Jung-Shik
    Lee, Eung-Hyuk
    Lee, Bo-Hee
    Kim, Jin-Geol
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2008, 6 (04) : 551 - 558
  • [10] Study on the real-time walking control of a humanoid robot using fuzzy algorithm
    Department of Micro Robot, Daeduck College, 48, Jang-dong, Yuseong-gu, Daejeon 305-715, Korea, Republic of
    不详
    不详
    不详
    Int. J. Control Autom. Syst., 2008, 4 (551-558):
12345