基于传感器的14自由度人型双足机器人行走

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625302

Masaaki Kumagai, T. Emura

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引用次数: 8

摘要

行走机器人适用于不适合轮式或履带的不平坦地形。双足机器人是一种可以在人类生活环境中行走的机器人。关于双足机器人的研究工作很多。它们大多使用复杂的机器人动力学模型或预先准备好的关节角轨迹。本文提出了一种针对人型双足机器人的控制方法，该方法不需要复杂的机器人动力学模型和预先准备的行走模式。这种控制方法是基于多个传感器获得的信息进行简单动作的组合。实验结果表明了该方法的有效性。

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Sensor-based walking of human type biped robot that has 14 degree of freedoms

Walking robots are useful for uneven terrain where wheel or crawler is not suitable. The biped robot is a kind of walking robot which can be used in human-live environments. There are many research works on biped robots. Most of them use complex dynamic models of robots or prepared joint angle trajectories. In this paper, we propose a control method for human type biped robot which does not need complex dynamic model of the robot and prepared walking pattern. This control method is a combination of simple actions based on information obtained by many sensors. We show the experimental results which indicate ability of this method, here.

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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

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