计算机科学
机器人
控制理论(社会学)
弹道
两足机器人
人体躯干
仿人机器人
动力学(音乐)
模拟
步态
运动(物理)
控制器(灌溉)
运动学
逆动力学
倒立摆
作者
Xiang Luo,Dan Xia,Chi Zhu
标识
DOI:10.1142/s0219843618500044
摘要
This paper presents a control method of the torso for dynamic walking of biped robots. Specifically, we want to save the energy and improve the walking stability by the planning and control of torso orientation at landing. First, the impact process of leg exchange is formulated using a simplified model. Based on this, the influence of the torso orientation at landing on walking performance is investigated. Second, a control method of torso orientation, which is an under actuated control, is proposed to regulate the torso orientation in the single support phase (SSP). Third, the control module of the torso is integrated into the previously established control frame of 3D biped walking to implement the control objective of a 3D humanoid robot. The results of a number of simulations show the feasibility of the proposed method, and also explore the relations between the speed, stability and energy consumption with the landing orientation of the torso.
科研通智能强力驱动
Strongly Powered by AbleSci AI