Title :
Fast rejection of external small impulse on biped robot
Author :
Zhou, Yun-Long ; Xu, Xin-He
Author_Institution :
Inst. of Artificial Intelligence & Robotics, Northeast Univ., Shenyang, China
Abstract :
During biped robot moving, it is hard to avoid external impulse. If biped robot receives external impulse, its joint velocity has abrupt changes. As a result, biped robot deviates from normal status, to quickly reject external impulse, impulse model of biped robot is conducted, and compensation acceleration to each joint is calculated. Changes of joint angle and joint angle velocity are eliminated. Finally the rejecting method is proved effective by simulation result of biped robot.
Keywords :
legged locomotion; robot dynamics; biped robot; compensation acceleration; external small impulse; fast rejection; impulse model; joint velocity; rejecting method; Acceleration; Adaptive control; Artificial intelligence; Intelligent robots; Kinematics; Motion control; Programmable control; Robot control; Robot motion; Stability;
Conference_Titel :
Machine Learning and Cybernetics, 2003 International Conference on
Print_ISBN :
0-7803-8131-9
DOI :
10.1109/ICMLC.2003.1259922
