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Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction
Li ZH(李志海); Wu ZW(吴镇炜); Fu YL(付宜利)
Department机器人学研究室
Conference NameIEEE International Conference on Mechatronics and Automation (ICMA)
Conference DateAugust 3-6, 2014
Conference PlaceTianjin, China
Source Publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2014
Pages873-878
Indexed ByEI ; CPCI(ISTP)
EI Accession number20143818167280
WOS IDWOS:000366848100151
Contribution Rank1
ISBN978-1-4799-3979-4
KeywordBiped Robot Walking Gait Cpg Zmp
AbstractFor the locomotion control of biped robot in active/passive hybrid walking, a Central Pattern Generator based motion control strategy is proposed. The strategy uses CPG as equations with respect to the state of supporting leg, and generates proper limb movements to perform the walking gait for biped robot. The orientation angle of the limbs is used as the inner output of rhyme oscillator. Sensors input including ground reaction force and state of trunk modulate the CPG output among the biped walking. Active and passive walking phase is analyzed. And configuration of the motion generator is discussed. Then the biped walking strategy by using CPG is established. A simulation model containing collisions is established. Biped walking simulation is conducted, and the motion control system could generate a stable biped walking. Simulation results show the effectiveness of the proposed strategy.   
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15402
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Technology (Shenyang Institute of Automation), Shenyang Liaoning Province, China
2.Robotics Institute, Harbin Institute of Technology, Harbin Heilongjiang Province, China
Recommended Citation
GB/T 7714
Li ZH,Wu ZW,Fu YL. Active/passive Walking Control for a Biped Robot Using CPG with Sensory Interaction[C]. Washington, DC:IEEE Computer Society,2014:873-878.
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