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Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction
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
会议录名称2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
出版者IEEE Computer Society
出版地Washington, DC
2014
页码873-878
收录类别EI ; CPCI(ISTP)
EI收录号20143818167280
WOS记录号WOS:000366848100151
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15402
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Technology (Shenyang Institute of Automation), Shenyang Liaoning Province, China
2.Robotics Institute, Harbin Institute of Technology, Harbin Heilongjiang Province, China
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GB/T 7714
Li ZH,Wu ZW,Fu YL. Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction[C]. Washington, DC:IEEE Computer Society,2014:873-878.
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