Title :
The control method of stepping motors for biped-robot
Author :
ZhiLiang, Wang ; Xuejing, Gu ; Xie Lun ; Jichun, Zhao
Author_Institution :
Beijing Univ. of Sci. & Technol., China
Abstract :
The control method of stepping motors for biped-robot is described. Joints of the robot are powered by six stepping motor systems, which are controlled by microcomputer. A simple control formula is proposed. According to the minimum of energy consume and stable walking, variables of the formula are chosen.
Keywords :
legged locomotion; machine control; microprocessor chips; motion control; stepping motors; biped-robot; microcomputer control; stable walking; stepping motor; Circuits; Control systems; Electric variables control; Humanoid robots; Humans; Leg; Legged locomotion; Microcomputers; Micromotors; Robot sensing systems;
Conference_Titel :
Electrical Machines and Systems, 2003. ICEMS 2003. Sixth International Conference on
Conference_Location :
Beijing, China
Print_ISBN :
7-5062-6210-X
