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Informations générales |
| Auteur |
Zhao, Jiandong; Li, Zhaoxuan; Zheng, Jun; Shen, Tong |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
In order to reduce the impact force of swing legs
and improve walking stability when a small humanoid
robot is walking, a set of impact dynamics equations
based on the second kind Lagrange equation is produced,
and an impact compensation control strategy with a BP
network optimized by a particle swarm algorithm is
designed. The core element of the compensation
controller is replacing the error back propagation with a
particle swarm algorithm. Due to the regulating joints of
the knee, hip and ankle, the walking process is more
stable than before. The experiment results show that
when the left swing leg lands, the impact force drops by
2N and 1.5N respectively in the moments 4.5s and 10.5s.
Therefore, the compensation strategy can reduce the
impact force effectively and improve the walking
stability. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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