Title :
Walking gait generation using linear inverted pendulum model for biped robot with heterogeneous legs
Author :
Wang, Fei ; Wen, Shiguang ; Li, Jincheng ; Wu, Chendong
Author_Institution :
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
Abstract :
As a general advanced plateform of performance test and quantitative estimation for prosthetic leg, biped robot with heterogeneous legs (BRHL) simulates the amputee-prosthesis coupling system. To generate the walking gait trajectories of artificial leg, linear inverted pendulum model combining with ZMP stability criterion was employed and the reference angle of joints was calculated by establishing and solving robot inverse kinematics. To eliminate the effect of servo mechanism hysteresis, preview control was used to optimize the CoG trajectories. Experiment results indicate the effectiveness of the proposed scheme.
Keywords :
legged locomotion; nonlinear control systems; pendulums; prosthetics; robot kinematics; servomechanisms; stability; amputee-prosthesis coupling system; artificial leg; biped robot with heterogeneous legs; heterogeneous legs; linear inverted pendulum model; robot inverse kinematics; servomechanism hysteresis; walking gait generation; Educational institutions; Energy consumption; Inverse problems; Knee; Laboratories; Leg; Legged locomotion; Prosthetics; Robot kinematics; System testing; BRHL; Linear inverted pendulum model; Preview control; Walking gait; ZMP;
Conference_Titel :
Control and Decision Conference (CCDC), 2010 Chinese
Conference_Location :
Xuzhou
Print_ISBN :
978-1-4244-5181-4
Electronic_ISBN :
978-1-4244-5182-1
DOI :
10.1109/CCDC.2010.5498182
