Title :
Human-in-the-loop Control System Based on The Biped Walking-chair Robot
Author :
Jiaoyan, Tang ; Qunfei, Zhao ; Jie, Huang ; Ruqing, Yang
Author_Institution :
Shanghai Jiaotong Univ., Shanghai
Abstract :
This paper presents the research on stability for biped walking-chair robot with human-in-the-loop. The inherent properties of the biped system with human-in-the-loop for navigation path design and walking gait design are analyzed. Posture stability computation method based on ZMP (zero movement point) theory is discussed. Some suggestions about the future research are also presented.
Keywords :
legged locomotion; motion control; navigation; path planning; stability; biped walking-chair robot; human-in-the-loop control system; navigation path design; posture stability; walking gait design; walking stability; zero movement point; Computer science; Control systems; Educational institutions; Image processing; Legged locomotion; Mechanical engineering; Navigation; Pattern recognition; Stability; US Department of Transportation; biped robot; human-in-the-loop; walking stability;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347250
