Biped walking on level ground with torso using only one actuator
Biped walking on level ground with torso using only one actuator作者机构：State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and TechnologyTsinghua University Beijing Institute of Control Engineering Department of Mechanical and Industrial Engineering College of Engineering Sultan Qaboos UniversityAl-Khod 123 P.O. Box 33Sultanate of Oman
出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))
年 卷 期：2013年第56卷第11期
页 面：256-264页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
主 题：biped robot torso control passive dynamic walking PD controller
摘 要：It is well known that a biped robot needs actuators to walk stably on level *** now,a biped robot with torso has needed at least two actuators to achieve *** it be possible for this kind of robot to walk on level ground with only one actuator?This paper responds in the afrmative and proposes a simple control strategy for a planar biped robot with *** this control method,there is only one low gain proportional-derivative(PD)controller between the torso and the stance leg,while the swing leg remains totally *** PD controller utilizes states of both the torso(angle and angular velocity)and the stance *** numerical simulations show that,by adopting this controller,a planar biped robot with torso can walk stably on level ground,and that the robot can walk with a wide range of speeds and high energy efciency by changing the control *** period-one gaits,one of which is stable while the other three are unstable,are found by *** to the literature surveyed,we are the first to have a torso only driven biped robot walk stably on level ground.
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