ADAPTIVE WALKING CONTROL FOR A BIPED ROBOT

被引：0
|
作者：
SHISHKIN, SL
机构：
来源：
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL | 1994年 / 32卷 / 05期
关键词：
ANTHROPOMORPHIC ROBOT; MOTION CONTROL; BALLISTIC MOTION;
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：
A plane model of a biped robot consisting of five sections, a body and 2 two-link legs, is examined. Unknown inertial mass parameters are assumed. Motion is controlled by means of instantaneous impulse actions at the joints and ends of both legs. Recurrent objective inequalities are employed to solve the problem of synthesizing control that will yield stable walking along a horizontal surface after a certain learning period.
引用
收藏
页码：150 / 154
页数：5
相关论文
共 50 条
  • [1] Adaptive control of biped robot walking on an inclined plane
    Gusev, SV
    Shishkin, SL
    [J]. PROCEEDINGS OF THE 1996 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1996, : 1090 - 1095
  • [2] Design, dynamic modification, and adaptive control of a new biped walking robot
    Bagheri, Ahmad
    Najafi, Farid
    Farrokhi, Reza
    Moghaddam, Rahman Yousefi
    Felezi, Mohammad Ebrahim
    [J]. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2006, 3 (01) : 105 - 126
  • [3] Rhythmic-Reflex Hybrid Adaptive Walking Control of Biped Robot
    Liu, Chengju
    Yang, Jing
    An, Kang
    Chen, Qijun
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 94 (3-4) : 603 - 619
  • [4] ADAPTIVE-CONTROL OF A BIPED ROBOT WALKING ACROSS A HORIZONTAL PLANE
    SHISHKIN, SL
    [J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 1992, 6 (03) : 259 - 264
  • [5] Adaptive-robust control of a 12 DOF biped walking robot
    Khandan, Rasoul
    Panahi, Mohammad
    Eghtesad, Mohammad
    [J]. PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2, 2007, : 583 - 588
  • [6] Adaptive, fast walking in a biped robot under neuronal control and learning
    Manoonpong, Poramate
    Geng, Tao
    Kulvicius, Tomas
    Porr, Bernd
    Woergoetter, Florentin
    [J]. PLOS COMPUTATIONAL BIOLOGY, 2007, 3 (07) : 1305 - 1320
  • [7] Rhythmic-Reflex Hybrid Adaptive Walking Control of Biped Robot
    Chengju Liu
    Jing Yang
    Kang An
    Qijun Chen
    [J]. Journal of Intelligent & Robotic Systems, 2019, 94 : 603 - 619
  • [8] Adaptive network based fuzzy control of a dynamic biped walking robot
    Zhou, CJ
    Jagannathan, K
    [J]. IEEE INTERNATIONAL JOINT SYMPOSIA ON INTELLIGENCE AND SYSTEMS, PROCEEDINGS, 1996, : 109 - 116
  • [9] Adaptive walking control of biped robot based on Fuzzy-CPG
    基于Fuzzy-CPG的双足机器人适应性行走控制
    [J]. Liu, Cheng-Ju (liuchengju@tongji.edu.cn), 1600, South China University of Technology (37): : 2525 - 2534
  • [10] Walking and control of autonomous biped robot
    Lee, JW
    Lee, KH
    Park, IW
    Oh, JH
    [J]. MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 2001, : 173 - 177
12345