Modeling and Simulation of Three-Dimensional Running Biped Robot with Springy Leg
In this paper,a 3D biped robot is modeled and simulated to better understand legged system that running.Two springy legs,a pivot body and actuated hominine legs are incorporated in the model.The model is built to study balance and dynamic stability in running.The control algorithms are separated to different planes.In sagittal plane,traveling speed and vertical hopping height of the model are controlled by choosing capture point for feet and pre-valuing energy loss of the system on a leg-spring model.In frontal plane,body attitude was manipulated by intermittent control.In horizontal plane,the waist joint was governed to compensate for errors in heading direction by swinging torso during stance.By guaranteeing symmetry in running,we matched motions in different planes.The feasibility of the control algorithms were verified by simulations.
Springy Leg Dynamic Stability Bipedal Machine
WenTao Sun JunYao Gao Qiang Huang ZhangGuo Yu WeiMin Zhang XueChao Chen Juan Chen
School of Mechatronical Engineering,Beijing Institute of Technology 100081,China Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing Institute of Technology,B Intelligent Robotics Institute,School of Mechatronical Engineering,Beijing Institute of Technology,B North Navigation Control Technology Co,Ltd.Beijing 100176,China
国际会议
天津
英文
1-8
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）