采用分布式控制结构实现腿同步

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509411

H. Minamisawa, K. Kawabata, Po Chih Lin, Y. Hanamaki, K. Inagaki, H. Kobayashi

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引用次数: 3

摘要

一般来说，步行机器人的分层控制在实时性上是非常困难的。因此，自治的分布式控制结构已经成为人们关注的焦点。本文通过四足步行机器人的实验验证了所提出的分布式控制器。通过计算机仿真，验证了分布式控制器的有效性。实验结果表明，该控制器具有足够的性能来实现机器人腿的同步。

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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Leg synchronization by distributed control structure

Generally, hierarchical control for walking robots Is very difficult in real time. Thus, autonomous distributed control structures have become the center of attention. In this paper, we verify our proposed distributed controller by experiments of a quadruped walking robot. We have already ensured validity of our distributed controller by some computer simulations. The experimental results show that the controller has enough property to synchronize robots' legs.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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