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题名: On-line computational scheme for dynamic walking of anthropomorphic biped robots
作者: Tan GZ(谭冠政) ; Liang F(梁丰) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 4th World Congress on Intelligent Control and Automation (WCICA)
会议日期: June 10-14, 2002
会议地点: Shanghai, China
会议主办者: IEEE
会议录: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2002
页码: 799-804
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-7268-9
关键词: Algorithms ; Anthropomorphic robots ; Biped locomotion ; Computational methods ; Kinematics ; Mobile robots ; Motion control ; Online systems ; Real time systems
摘要: Based on the Luh-Walker-Paul's algorithm, a new and more effective on-line computational scheme used for real-time control of dynamic walking of anthropomorphic biped robots is developed. This scheme includes two algorithms, one is the famous Luh-Walker-Paul's algorithm used for the single-foot supporting phase, and another is called IDADFS algorithm which is developed in this paper and used for the double-feet supporting phase. In IDADFS algorithm, the authors not only have given the recursive formulas for the kinematic and dynamic computations but also have proposed three criteria to examine the correctness of these computations. By means of this new computational scheme, one can perform precise real-time control for the dynamic walking of anthropomorphic biped robots. It should be pointed out that the research result of this paper can be also spread to multilegged robots. The more important is that the IDADFS algorithm also can be generalized to the manipulators with an open kinematic chain to realize the real-time control over this kind of manipulators when they execute closed-chain operating tasks or multirobots coordinative manipulations.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9214
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
谭冠政; 梁丰; 王越超.On-line computational scheme for dynamic walking of anthropomorphic biped robots.见:IEEE.Proceedings of the World Congress on Intelligent Control and Automation (WCICA),New York,2002,799-804
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