Development of control system in a biped robot with heterogeneous legs

被引：0
|
作者：
Xiao, Jun [1 ,2 ]
Jia, Penyu [1 ]
Xu, Xinhe [1 ]
Tan, Jindong [3 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110004, Peoples R China
[2] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110008, Peoples R China
[3] Michigan Technol Univ, Dept ECE, Houghton, MI 49931 USA
来源：
2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5 | 2006年
基金：
中国国家自然科学基金;
关键词：
biped robot; bionic leg; control;
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：
This paper discusses how a biped robot with heterogeneous legs imitates a person's walking from gait design, gait planning and gait control. A biped robot with heterogeneous legs(BRRL) robot consists of an artificial leg and an intelligent bionic leg. The purpose of this robot's design is to make the intelligent bionic leg follow the artificial leg's movement, which provides an excellent platform for the research of intelligent prosthetic leg. After the introduction of gait design and gait planning, a semi-active kneel control method is proposed for magneto-rheological (AIR) damper in the intelligent bionic leg. And an overall control system scheme is presented. Simulative and practical system experiments prove the validity of the presented plan and proposed algorithm.
引用
收藏
页码：1443 / +
页数：2
相关论文
共 50 条
  • [1] Research of Gait Planning and Control for Biped Robot with Heterogeneous Legs
    Xie, Hualong
    Zhang, Yu
    Liu, Yongxian
    Xu, Xinhe
    2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11, 2008, : 2211 - 2215
  • [2] Design and implementation of coordinated control strategy for biped robot with heterogeneous legs
    Wang, Fei
    Wu, Chengdong
    Zhang, Yunzhou
    Xu, Xinhe
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1559 - 1564
  • [3] A coordinated control strategy for stable walking of biped robot with heterogeneous legs
    Wang, Fei
    Wu, Chengdong
    Xu, Xinthe
    Zhang, Yunzhou
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2009, 36 (05): : 503 - 512
  • [4] Gait perception and coordinated control of a novel biped robot with heterogeneous legs
    Xu, Xinhe
    Yie, Hualong
    Wang, Binrui
    Tan, Jindong
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 356 - +
  • [5] New kind of robot model: biped robot with heterogeneous legs
    Xu, Xinhe
    Wang, Binrui
    Tan, Jindong
    Gaojishu Tongxin/High Technology Letters, 2004, 14 (12):
  • [6] Gait analysis and planning of biped robot with heterogeneous legs
    Xie, H. L.
    Tang, L.
    Hou, S. M.
    Liu, Y. X.
    2008 PROCEEDINGS OF INFORMATION TECHNOLOGY AND ENVIRONMENTAL SYSTEM SCIENCES: ITESS 2008, VOL 1, 2008, : 1152 - 1156
  • [7] Optimum design of mechanism biped robot with heterogeneous legs
    Xie, Hua-Long
    Xu, Zhi-Wei
    Shi, Jia-Shun
    Xu, Xin-He
    Dongbei Daxue Xuebao/Journal of Northeastern University, 2008, 29 (10): : 1470 - 1473
  • [8] Gait Planning Research for Biped Robot with Heterogeneous Legs
    Xiao, Jun
    Song, Xing
    Su, Jie
    Xu, Xinhe
    PRICAI 2010: TRENDS IN ARTIFICIAL INTELLIGENCE, 2010, 6230 : 693 - 698
  • [9] Locomotion modeling and simulation of the biped robot with heterogeneous legs
    Li, Fu
    Xinhe, Xu
    ICIEA 2007: 2ND IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS, VOLS 1-4, PROCEEDINGS, 2007, : 1314 - +
  • [10] Virtual Prototype Modeling of Biped Robot with Heterogeneous Legs
    Xie, Hualong
    Li, Fei
    Weng, Ning
    Sheng, Zhongqi
    MECHATRONICS AND COMPUTATIONAL MECHANICS, 2013, 307 : 117 - +
12345