双足机器人三维行走的自适应模糊pd控制

2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI:10.1109/RIOS.2015.7270738

Malihe Talebi, M. Farrokhi

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引用次数: 1

摘要

本文提出了一种双足机器人三维行走的控制方法，而大多数文献只考虑在矢状面行走，并考虑正面稳定问题。该方法采用自适应模糊pd控制方案，验证了所提模型的有效性。仿真结果表明，与文献中提出的控制方法相比，该模型和控制方法具有良好的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Adaptive fuzzy-PD controller for 3D walking of biped robots

This paper proposes a control method for walking of biped robots in three dimensions, while most papers consider only walking in the sagittal plane and consider the frontal stabilization issues. The proposed method employs an adaptive fuzzy-PD control scheme to show the validity of the proposed model. Simulating results show good performance of the model and the control method as compared with recently proposed method in literature.

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2015 AI & Robotics (IRANOPEN)

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