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
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