Research of gait planning and control for biped robot with heterogeneous legs

Author

Xie, Hualong ; Zhang, Yu ; Liu, Yongxian ; Xu, Xinhe

Author_Institution

Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang

fYear

2008

fDate

2-4 July 2008

Firstpage

2211

Lastpage

2215

Abstract

Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. First, the conception and research purpose of HRHL are introduced. Then, kinematics model, coordinated dynamics model and MR damper model are given. Based on gait tracking, gait planning method of BRHL is discussed and simulation is done. In the end, this paper discusses the control model of BRHL and gives combined control simulation. The result indicates that intelligent bionic leg controlled by MR damper can track artificial legpsilas gait well.

Keywords

artificial limbs; damping; gait analysis; humanoid robots; legged locomotion; magnetorheology; path planning; robot dynamics; robot kinematics; shock absorbers; MR damper model; biped robot; coordinated dynamics model; gait control; gait planning; gait tracking; heterogeneous legs; humanoid robot; intelligent bionic leg; Knee; Leg; Legged locomotion; Robot control; Biped Robot with Heterogeneous Legs; Gait Planning; Magneto-rheological Damper; System Modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4597716

Filename

4597716