Gait Planning and Motion Control of a Biped Robot

سال انتشار: 1387
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 1,801

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شناسه ملی سند علمی:

ICEE16_403

تاریخ نمایه سازی: 6 اسفند 1386

چکیده مقاله:

Biped robots are most capable of passing natural obstacles similar to human being. So, most researchers have been attracted to investigate this kind of robots. However, to achieve their target, they require not only a proper stable gate planning, but also a proper controller to trace the designated walking manner. Accordingly, this article will present a proper gate planning and an applicable nonlinear and non-model-based control approach of biped robots. To this end, the concept of Transpose Jacobian Algorithm is used as a constraint on a virtual end-effecter for desired tracking. The proposed algorithm is designed based on considering four important points of the biped robot, and bearing in mind a virtual spring and damper between each of these points and the corresponding desired trajectory. These four points include the tip of right and left foot, the hip joint and the total center of mass (CM). Moreover, in the control of the biped robots with desired trajectory in the task space, the system may track the desired trajectory while the knee is broken. This problem is solved here using a proposed routine which will be called Knee Stopper. Similarly, an algorithm is proposed as Trunk Stopper to limit trunk motion. Obtained results show that the proposed gait planner and the control law can be successfully used in tracking desired trajectories

نویسندگان

S. Ali A Moosavian

Advanced Robotics & Automated Systems (ARAS) Laboratory

Mansoor Alghooneh

Department of Mechanical Engineering, K. N. Toosi University of Technology

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