Walking gait generation using linear inverted pendulum model for biped robot with heterogeneous legs

Author

Wang, Fei ; Wen, Shiguang ; Li, Jincheng ; Wu, Chendong

Author_Institution

Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China

fYear

2010

fDate

26-28 May 2010

Firstpage

1326

Lastpage

1329

Abstract

As a general advanced plateform of performance test and quantitative estimation for prosthetic leg, biped robot with heterogeneous legs (BRHL) simulates the amputee-prosthesis coupling system. To generate the walking gait trajectories of artificial leg, linear inverted pendulum model combining with ZMP stability criterion was employed and the reference angle of joints was calculated by establishing and solving robot inverse kinematics. To eliminate the effect of servo mechanism hysteresis, preview control was used to optimize the CoG trajectories. Experiment results indicate the effectiveness of the proposed scheme.

Keywords

legged locomotion; nonlinear control systems; pendulums; prosthetics; robot kinematics; servomechanisms; stability; amputee-prosthesis coupling system; artificial leg; biped robot with heterogeneous legs; heterogeneous legs; linear inverted pendulum model; robot inverse kinematics; servomechanism hysteresis; walking gait generation; Educational institutions; Energy consumption; Inverse problems; Knee; Laboratories; Leg; Legged locomotion; Prosthetics; Robot kinematics; System testing; BRHL; Linear inverted pendulum model; Preview control; Walking gait; ZMP;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2010 Chinese

Conference_Location

Xuzhou

Print_ISBN

978-1-4244-5181-4

Electronic_ISBN

978-1-4244-5182-1

Type

conf

DOI

10.1109/CCDC.2010.5498182

Filename

5498182