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题名: Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction
作者: Li ZH(李志海); Wu ZW(吴镇炜); Fu YL(付宜利)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Mechatronics and Automation (ICMA)
会议日期: August 3-6, 2014
会议地点: Tianjin, China
会议录: 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2014
页码: 873-878
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4799-3979-4
关键词: Biped robot ; walking gait ; CPG ; ZMP
摘要: For the locomotion control of biped robot in active/passive hybrid walking, a Central Pattern Generator based motion control strategy is proposed. The strategy uses CPG as equations with respect to the state of supporting leg, and generates proper limb movements to perform the walking gait for biped robot. The orientation angle of the limbs is used as the inner output of rhyme oscillator. Sensors input including ground reaction force and state of trunk modulate the CPG output among the biped walking. Active and passive walking phase is analyzed. And configuration of the motion generator is discussed. Then the biped walking strategy by using CPG is established. A simulation model containing collisions is established. Biped walking simulation is conducted, and the motion control system could generate a stable biped walking. Simulation results show the effectiveness of the proposed strategy.   
语种: 英语
产权排序: 1
WOS记录号: WOS:000366848100151
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15402
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Li ZH,Wu ZW,Fu YL. Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction[C]. 见:IEEE International Conference on Mechatronics and Automation (ICMA). Tianjin, China. August 3-6, 2014.
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文件名: Active passive walking strategy for a biped robot using CPG with sensory interaction.pdf
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