Deschide documentul
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Informaţii generale |
| Autor |
Yang, Woosung; Kim, Hyungjoo; You, Bum Jae |
| Publicat |
InTech Open Access Publisher, 2013
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| Detaliază |
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| Abstract |
Despite recent major advances in computational
power and control algorithms, the stable and robust
control of a bipedal robot is still a challenging issue due to
the complexity and high nonlinearity of robot dynamics.
To address the issue an efficient and powerful alternative
based on a biologically inspired control framework
employing neural oscillators is proposed and tested. In a
numerical test the virtual force controller combined with
the neural oscillator of a humanoid robot generated
rhythmic control signals and stable bipedal locomotion
when coupled with proper impedance components. The
entrainment nature inherent to neural oscillators also
achieved stable and robust walking even in the presence of
unexpected disturbances, in that the centre of mass (COM)
was successfully kept in phase with the zero moment point
(ZMP) input trajectory. The efficiency of the proposed
control scheme is discussed alongside simulation results. |
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International Journal of Advanced Robotic Systems
Autor: 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, [...]
Publicat: 2004
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