刘志远, 张铨, 傅佩琛. 基于主-从控制的双足机器人动步态行走[J]. 机器人, 1992, 14(4): 7-12.
引用本文: 刘志远, 张铨, 傅佩琛. 基于主-从控制的双足机器人动步态行走[J]. 机器人, 1992, 14(4): 7-12.
LIU Zhiyuan, ZHANG Quan, FU Peichen. DYNAMIC LOCOMOTION OF BIPED ROBOT BASED ON MASTER-SLAVE CONTROL[J]. ROBOT, 1992, 14(4): 7-12.
Citation: LIU Zhiyuan, ZHANG Quan, FU Peichen. DYNAMIC LOCOMOTION OF BIPED ROBOT BASED ON MASTER-SLAVE CONTROL[J]. ROBOT, 1992, 14(4): 7-12.

基于主-从控制的双足机器人动步态行走

DYNAMIC LOCOMOTION OF BIPED ROBOT BASED ON MASTER-SLAVE CONTROL

  • 摘要: 本文给出一种基于主-从控制实现双足机器人动步态行走的控制方法.该方法计算量小,可以在线规划步态及实现双脚支撑期平滑的动态切换.仿真及实验结果验证了方法的有效性及可行性,实现了变步态动态行走.实验所采用的装置为HLTR-13双足机器人.该机器人重65kg,高1.1m,具有12个自由度.实验结果表明,本文给出的方法能较好地实现变步态动态行走.从而使机器人具有较强的环境适应能力.

     

    Abstract: This paper presents a control method which is based on master-slave control to realize dynamic locomotionof biped robot.The computational load of this method is low so that it can plan walking patterns on-line andaccomplish smooth dynamic switching in double-support phase.Simulation and experiment results show thatthe method is effective and practical.To realize dynamic locomotion with changing walking patterns.The ap-paratus used in the experiment is a HITR-13 biped robot with 12 DOFs.The experiment results also showthat the method can make biped robot to be well adaptive to environments.

     

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