BALANCE CONTROL METHOD OF BIPED ROBOT BASED ON FRP FEEDBACK MECHANISM AND ZMP

被引：3
|
作者：
Wang, Gang [1 ]
Li, Yongmei [1 ]
机构：
[1] JiMei Univ, Dept Comp Sci, Xiamen, Peoples R China
来源：
CONTROL AND INTELLIGENT SYSTEMS | 2014年 / 42卷 / 01期
关键词：
Force resistance preceptor; zero moment point; balance control;
D O I：
10.2316/Journal.201.2014.1.201-2529
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The development and application of humanoid robots is very important for scientific and practical problems. And the balance control of the robot is the essential precondition. There are several static or dynamic methods to program humanoid robots' movement. But in specific applications, there are still some weak points. In this paper, we present a novel approach to program the robots' motion based on a data analytical method, viz. force resistance preceptor (FRP). Furthermore, we also adjust the movement of the robots according to zero moment point. Experimental results show that the proposed model and approach in this paper are efficient to help the robots move fast and smoothly in curvilinear motion.
引用
收藏
页码：73 / 79
页数：7
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