Development of control system in a biped robot with heterogeneous legs

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Development of control system in a biped robot with heterogeneous legs
	Xiao J(肖军); Jia, Penyu; Xu XH(徐心和); Tan JD(谈金东)
	2006
会议名称	9th International Conference on Control, Automation, Robotics and Vision
会议日期	December 5-8, 2006
会议地点	Singapore, SINGAPORE
关键词	biped robot bionic leg control
页码	1-6
通讯作者	肖军
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0341-7
WOS记录号	WOS:000246927402083
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19867]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Xiao J,Jia, Penyu,Xu XH,et al. Development of control system in a biped robot with heterogeneous legs[C]. 见:9th International Conference on Control, Automation, Robotics and Vision. Singapore, SINGAPORE. December 5-8, 2006.