Balance recovery control for biped robot based on reaction null space method

作     者：Baoping WANG Renxi HU Jinming ZHANG Chuangfeng HUAI 

作者机构：Department of Mechanical and Electronic Engineering Guangdong Baiyun University Guangzhou Guangdong 510450 China Department of Basic Courses Ordnance Engineering College Shijiazhuang Hebei 050003 China School of Mechanical and Electronic Control Engineering Beijing Jiaotong University Beijing 100044 China 

出 版 物：《控制理论与应用（英文版）》 (控制理论与应用)

年 卷 期：2009年第7卷第1期

页      面：87-91页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：supported by the National Natural Science Foundation of China (No.50675016) the Science and Technology Innovation Fund for the Doctor (No.48030) 

主　　题：Biped robot Balance recovery control Reaction null space Step strategy 

摘      要：A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.