The control simulation of BRHL based on diagonal recurrent neural network

Author

Xie, Hua-Long ; Guo, Li-Xin ; Zhang, Ming

Author_Institution

Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China

Volume

5

fYear

2010

fDate

16-18 Oct. 2010

Firstpage

1844

Lastpage

1848

Abstract

In order to provide an ideal test-bed for the research of intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper, a novel humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. First the conception and research purpose of BRHL are introduced. Then bionic design of BRHL is analyzed in detail. Coordinated dynamics model and MR damper model are given. In the end, diagonal recurrent neural network is discussed and control simulation is done. The result indicates that BRHL can simulate human´s gait well and is an ideal test-bed of intelligent bionic leg.

Keywords

biology computing; biomechanics; electromagnetic actuators; magnetorheology; mobile robots; neurocontrollers; recurrent neural nets; BRHL control simulation; biped robot with heterogeneous legs; coordinated dynamics model; diagonal recurrent neural network; human gait simulation; humanoid robot; intelligent bionic leg; magnetorheological damper; Biological system modeling; Humans; Joints; Knee; Leg; Legged locomotion; biped robot with heterogeneous legs; diagonal recurrent neural network; gait tracking; intelligent bionic leg;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Engineering and Informatics (BMEI), 2010 3rd International Conference on

Conference_Location

Yantai

Print_ISBN

978-1-4244-6495-1

Type

conf

DOI

10.1109/BMEI.2010.5639258

Filename

5639258