The Bionic Design and Intelligent Control of Multiazis Artificial Leg
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot--biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed and virtual prototype is given. Hip joint and ankle joint are designed and virtual prototypes are given. Driving shaft of artificial leg is determined by analysis of driving moment. In the end, control system is established and simulation is done. The result indicates that multi-axis artificial leg can simulate human normal gait well.
biped robot with heterogeneous legs intelligent bionic leg multi-azis artificial leg iterative learning control
Fei Li Weiqi Yuan Hualong Xie
School of Information Science & Engineering Shenyang University of Technology Shenyang,Liaoning Prov School of Mechanical Engineering & Automation Northeastern University Shenyang,Liaoning Province,Chi
国际会议
北京
英文
1-4
2009-06-11（万方平台首次上网日期，不代表论文的发表时间）