I. Park, S. Jo, Gi-bok Kim, Il-Ro Yoon, Bo-Nam Cha, Sung-Hyun Han
{"title":"双足机器人精确行走的卷时控制","authors":"I. Park, S. Jo, Gi-bok Kim, Il-Ro Yoon, Bo-Nam Cha, Sung-Hyun Han","doi":"10.1109/ICCAS.2015.7364827","DOIUrl":null,"url":null,"abstract":"This paper deals with the stable walking for a bipped robot, on uneven terrain, A bipped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs bipped robot.","PeriodicalId":6641,"journal":{"name":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","volume":"33 1","pages":"1259-1261"},"PeriodicalIF":0.0000,"publicationDate":"2015-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A reel-time control for precise walking of bipped robot\",\"authors\":\"I. Park, S. Jo, Gi-bok Kim, Il-Ro Yoon, Bo-Nam Cha, Sung-Hyun Han\",\"doi\":\"10.1109/ICCAS.2015.7364827\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper deals with the stable walking for a bipped robot, on uneven terrain, A bipped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs bipped robot.\",\"PeriodicalId\":6641,\"journal\":{\"name\":\"2015 15th International Conference on Control, Automation and Systems (ICCAS)\",\"volume\":\"33 1\",\"pages\":\"1259-1261\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-12-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 15th International Conference on Control, Automation and Systems (ICCAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCAS.2015.7364827\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 15th International Conference on Control, Automation and Systems (ICCAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAS.2015.7364827","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A reel-time control for precise walking of bipped robot
This paper deals with the stable walking for a bipped robot, on uneven terrain, A bipped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs bipped robot.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
