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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)
作者部门机器人学研究室
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
会议录名称2006 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION, VOLS 1- 5
出版者IEEE
出版地NEW YORK
2006
页码1-6
收录类别EI ; CPCI(ISTP)
EI收录号20073110725926
WOS记录号WOS:000246927402083
产权排序1
ISBN号978-1-4244-0341-7
关键词Biped Robot Bionic Leg Control
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.
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/173321/19867
专题机器人学研究室
通讯作者Xiao J(肖军)
作者单位1.College of Information Science and Engineering, Northeastern University, 110004, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110008, China
3.Dept. of ECE, Michigan Technological University, Houghton, MI 49931, United States
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]. NEW YORK:IEEE,2006:1-6.
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