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

Volume

3

fYear

2011

fDate

10-13 July 2011

Firstpage

1296

Lastpage

1301

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics (ICMLC), 2011 International Conference on

Conference_Location

Guilin

ISSN

2160-133X

Print_ISBN

978-1-4577-0305-8

Type

conf

DOI

10.1109/ICMLC.2011.6016856

Filename

6016856