Title :
Realization of the adaptive excitation control method with biped walking robot simulation system
Author :
Jiang, Hong ; Tian, Yan-tao ; Chen, Hong-shuai ; Liu, Li-mei
Author_Institution :
Sch. of Commun. Eng., Jilin Univ., Changchun, China
Abstract :
A simulation system of underactuated biped walking robot is developed by virtual prototyping and mixed programming technology in this paper. The simulation system is based on multi-disciplinary integration and modular programming. Then the experiments of adaptive excitation control method are studied by this simulation system. The results realized the virtual prototype simulation of the underactuated biped walking robot successfully, and verified the effectiveness of the control algorithm.
Keywords :
adaptive control; control engineering computing; digital simulation; legged locomotion; robot dynamics; robot kinematics; robot programming; virtual prototyping; virtual reality; ADAMS; adaptive excitation control method; biped walking robot simulation system; control algorithm; mixed programming technology; modular programming; multidisciplinary integration; underactuated biped walking robot; virtual prototyping; virtual reality; Adaptation models; Analytical models; Legged locomotion; Mathematical model; Prototypes; Solid modeling; Adaptive excitation control method; Simulation system; Underactuated biped walking robot;
Conference_Titel :
Machine Learning and Cybernetics (ICMLC), 2011 International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4577-0305-8
DOI :
10.1109/ICMLC.2011.6016856
