An Orbit Based Control for Biomimetic Biped Walking

摘要：

One of the main challenges in the control of biped walking is to translate the understanding gained from passive walkers to active systems. In this paper, an active/passive hybrid walking control method is studied. Firstly, a two-point walking pattern is proposed according to the structure of human feet and the features of human walking. Secondly, the energy cycle of the proposed walking pattern is investigated. Based on the energy cycle, an orbit based control method with periodic stability is proposed. Thirdly, a finite state based method is developed to implement the walking control, including the energy input, stance leg and swing leg control. Finally, a 2D simulation system with an 8 DOF planar biped robot is developed to verify the proposed theory and method. Simulation result exhibits a steady walking similar to that of human.

作者: Xiang Luo Rui Guo Chi Zhu

作者单位: School of Mechanical Engineering,Southeast University,Jiangning distract,Nanjing,P.R.China,211189 Department of Systems Life Engineering,Maebashi Institute of Technology,Kamisadori 460-1,Maebashi,Gu

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2349-2355

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）