Walking Gait Generation Using Linear Inverted Pendulum Model for Biped Robot with Heterogeneous Legs

摘要：

As a general advanced plateform of performance test and quantitative estimation for prosthetic leg, biped robot with heterogeneous legs (BRHL) simulates the amputee-prosthesis coupling system. To generate the walking gait trajectories of artificial leg, linear inverted pendulum model combining with ZMP stability criterion was employed and the reference angle of joints was calculated by establishing and solving robot inverse kinematics. To eliminate the effect of servo mechanism hysteresis, preview control was used to optimize the CoG trajectories. Experiment results indicate the effectiveness of the proposed scheme.

关键词： BRHL Walking gait Linear inverted pendulum model ZMP Preview control

作者: Fei Wang Shiguang Wen Jincheng Li Chendong Wu

作者单位: College of Information Science and Engineering, Northeastern University, Shenyang, 110004 State Key College of Information Science and Engineering, Northeastern University, Shenyang, 110004

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 1326-1329

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）