Title :
Hybrid motion/force control of biped robots considering force optimization
Author :
Yongyong Ge;Liyang Wang;Zhijun Li
Author_Institution :
College of Engineering, Peking University, Beijing, China
fDate :
6/1/2015 12:00:00 AM
Abstract :
The hybrid motion/force control of biped robots with external wrenches is investigated in this paper. The proposed control is applied to keep balance of constrained biped robots in the double-support phase. A primary recurrent neural net-work(RNN) is used to settle the force optimization problem and a hybrid motion/force control based on another RNN is presented to approximate unknown dynamic functions. Simulation experiments demonstrate the effectiveness of the proposed method.
Keywords :
"Force","Dynamics","Legged locomotion","Robot kinematics","Optimization","Foot"
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN :
978-1-4799-8728-3
DOI :
10.1109/CYBER.2015.7287993
