未知外力作用下两足动物动态行走控制方法

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262498

A. Takanishi, T. Takeya, H. Karaki, I. Kato

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引用次数: 133

摘要

介绍了一种未知外力和力矩作用下的动态双足行走控制方法。利用该方法，他们利用新开发的实时控制器的两足步行机器人WL-12RIII进行了实时控制的步行实验。结果表明，WL-12RIII在未知的反向作用于腰部的矩形外力作用下，实现了0.64(s/step)的动态步进运动。最大受力强度为100(N)，时间宽度为0.3(s)。实验验证了该控制方法和实时控制器的有效性。

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A control method for dynamic biped walking under unknown external force

The authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, they perform walking experiments of real-time control with the biped walking robot WL-12RIII which has a newly developed real-time controller. The result shows that the WL-12RIII realized a 0.64(s/step) dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100(N) and the time width was 0.3(s). And the validity of this control method and the real-time controller was experimentally supported.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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