Gait Perception and Coordinated Control of a Novel Biped Robot with Heterogeneous Legs

Author

Xu, Xinhe ; Xie, Hualong ; Wang, Binrui ; Tan, Jindong

Author_Institution

Inst. of Artificial Intelligence & Robotics, Northeastern Univ., Shenyang

fYear

2006

fDate

Oct. 2006

Firstpage

356

Lastpage

361

Abstract

This paper presents gait perception and coordinated control of a Biped robot with heterogeneous legs (BRHL), which is a new type of humanoid robot. This paper first introduces the concepts and research objectives of a BRHL. Then configuration of a BRHL is discussed in detail. The coordinated dynamics model and MR damper model are given. Rules based on gait perception are introduced. In the end, this paper discusses the control structure of a BRHL. Simulation and prototype of a BRHL are discussed. The research indicates that intelligent bionic leg controlled by MR damper can track artificial leg´s gait well. A BRHL provides an ideal test-bed for advanced intelligent prosthesis

Keywords

humanoid robots; legged locomotion; magnetorheology; prosthetics; robot dynamics; MR damper; biped robot; coordinated control; coordinated dynamics model; gait perception; heterogeneous legs; intelligent bionic leg; Artificial intelligence; Damping; Humanoid robots; Leg; Legged locomotion; Prosthetics; Robot kinematics; Shock absorbers; Testing; Virtual prototyping; Biped robot with heterogeneous legs; Gait perception; Intelligent prosthesis; Iterative learning control; MR damper;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281717

Filename

4058967