Title :
Research on turning motion for biped robot based on consumption
Author :
Zhong Yingying ; Zhong Qiubo ; Zhao Jie
Author_Institution :
Sch. of Electron. & Inf. Eng., Ningbo Univ. of Technol., Ningbo, China
Abstract :
A turning movement model structures for biped robot is present in this paper. An inverted pendulum model is introduced into robot´s movement to achieve at the consumption problem when it turns. The relation between robots´ Movement pattern and consumption is replied by the derived formula. Finally, simulation and experiment are achieved to prove the validity of the pattern proposed in this paper.
Keywords :
humanoid robots; legged locomotion; nonlinear control systems; pendulums; biped humanoid robot; inverted pendulum model; robot movement consumption; robot movement pattern; turning movement model structures; Conferences; Humanoid robots; Legged locomotion; Service robots; Turning; Biped robot; inverted pendulum; turning motion;
Conference_Titel :
Advanced Research and Technology in Industry Applications (WARTIA), 2014 IEEE Workshop on
Conference_Location :
Ottawa, ON
DOI :
10.1109/WARTIA.2014.6976438
