Title :
A study of turning control for an 8-DOFs biped robot
Author :
Haiyan Wang ; Jiuhong Ruan
Author_Institution :
Sch. of Rail Transit, Shandong Jiaotong Univ., Jinan, China
Abstract :
This paper introduced a turning gait and the corresponding control method for a biped robot without yaw joints. Firstly, the paper introduced a hydraulic actuated biped robot with eight degrees of freedom, which had payload capacity. Secondly, based on the dynamic equilibrium method, the turning gait is generated. Thirdly, in order to decrease the turning time and increase the turning accuracy, a control method with the trunk posture information is proposed. Finally, weight loading experiments in the MD.DAMS simulation environment and physical prototype empty load experiments are used to verify the effectiveness of the proposed control method.
Keywords :
gait analysis; hydraulic control equipment; legged locomotion; motion control; 8-DOF biped robot; MD.DAMS simulation environment; dynamic equilibrium method; hydraulic actuated biped robot; payload capacity; physical prototype empty load experiments; trunk posture information; turning accuracy; turning control; turning gait; turning time; weight loading experiments; Foot; Joints; Legged locomotion; Prototypes; Robot kinematics; Turning; ADAMS simulation; biped robot; hydraulic actuated servo system; turning gait;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053261
