Study and Simulation of Control Method Based Biped Robot Walking On Water
In this paper the control method about biped robot walking on water is mainly developed. As the complexity of the water environment, biped robot walking on water encounter many difficulties when walking such as external environment modeling, gait planning, water interference and so on. The traditional model-based exact kinematic solution method is not applied. This article studies control algorithm that combine CPG neural networks and fuzzy control. The control algorithm is used for robot process control. The nonlinear model of the robot is got from electro-mechanical system co-simulation. In order to verify the validity of the algorithm, biped robot control system is established. Simulation results show that the algorithm can meet the control requirements of walking biped robot biped robot walking on water.
Biped robot walking on water CPG (Central Pattern Generator) neural network CPG-fuzzy control co-simulation
Xianming WEI Linsen XU Jianghai ZHAO Kai CAO
University of Science and Technology of China, Hefei 230026, China Institute of Hefei Institutes of Institute of Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China Changzhou University, Changzhou 213164, China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4900-4903
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）