Title :
Research of gait planning and control for biped robot with heterogeneous legs
Author :
Xie, Hualong ; Zhang, Yu ; Liu, Yongxian ; Xu, Xinhe
Author_Institution :
Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang
Abstract :
Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. First, the conception and research purpose of HRHL are introduced. Then, kinematics model, coordinated dynamics model and MR damper model are given. Based on gait tracking, gait planning method of BRHL is discussed and simulation is done. In the end, this paper discusses the control model of BRHL and gives combined control simulation. The result indicates that intelligent bionic leg controlled by MR damper can track artificial legpsilas gait well.
Keywords :
artificial limbs; damping; gait analysis; humanoid robots; legged locomotion; magnetorheology; path planning; robot dynamics; robot kinematics; shock absorbers; MR damper model; biped robot; coordinated dynamics model; gait control; gait planning; gait tracking; heterogeneous legs; humanoid robot; intelligent bionic leg; Knee; Leg; Legged locomotion; Robot control; Biped Robot with Heterogeneous Legs; Gait Planning; Magneto-rheological Damper; System Modeling;
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
Electronic_ISBN :
978-1-4244-1734-6
DOI :
10.1109/CCDC.2008.4597716
