• DocumentCode
    3666673
  • Title

    Hybrid motion/force control of biped robots considering force optimization

  • Author

    Yongyong Ge;Liyang Wang;Zhijun Li

  • Author_Institution
    College of Engineering, Peking University, Beijing, China
  • fYear
    2015
  • fDate
    6/1/2015 12:00:00 AM
  • Firstpage
    520
  • Lastpage
    524
  • Abstract
    The hybrid motion/force control of biped robots with external wrenches is investigated in this paper. The proposed control is applied to keep balance of constrained biped robots in the double-support phase. A primary recurrent neural net-work(RNN) is used to settle the force optimization problem and a hybrid motion/force control based on another RNN is presented to approximate unknown dynamic functions. Simulation experiments demonstrate the effectiveness of the proposed method.
  • Keywords
    "Force","Dynamics","Legged locomotion","Robot kinematics","Optimization","Foot"
  • Publisher
    ieee
  • Conference_Titel
    Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
  • Print_ISBN
    978-1-4799-8728-3
  • Type

    conf

  • DOI
    10.1109/CYBER.2015.7287993
  • Filename
    7287993
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3666673