检索结果-南通市图书馆

Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances

在线全文

学校读者我要写书评

暂无评论

Acta Mechanica Sinica 2014年第6期30卷 983-994页

作者： Chun-Biao Gan Chang-Tao Ding Shi-Xi Yang The State Key Laboratory of Fluid Power Transmission and Control Department of Mechanical EngineeringZhejiang University

During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain *** radical basis function（RBF）neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e *** contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance *** results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.

关键词： biped robot Multi-source random disturbances Sensitive parameters RBF neural network Taguchi method Performance evaluation

Near Optimal PID Controllers for the biped robot While Walking on Uneven Terrains

在线全文

学校读者我要写书评

暂无评论

International Journal of Automation and computing 2018年第6期15卷 689-706页

作者： Ravi Kumar Mandava Pandu Ranga Vundavilli School of Mechanical Sciences Indian Institute of Technology (IIT) Bhubaneswar

The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation （PID） controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization （MCIWO） and particle swarm optimization （PSO） algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.

关键词： biped robot staircase sloping surface proportion integration differentiation (PID) controller modified chaotic invasive weed optimization (MCIWO) & particle swarm optimization (PSO) algorithm.

LIE SYMMETRIES AND CONSERVED QUANTITY OF A biped robot

在线全文

学校读者我要写书评

暂无评论

Acta Mechanica Solida Sinica 2004年第2期17卷 183-188页

作者： KeXianxin GongZhenbang FuJingli DepartmentofPrecisionMechanicalEngineering.ShanghaiUniversity Shanghai200072China ShanghaiInstituteofAppliedMathematicsandMechanics.ShanghaiUniversity Shanghai200072China

For a better understanding of the dynamic principles governing biped locomotion, the Lie symmetries and conservation laws of a biped robot are studied. In Lie theory, Lie sym- metries and conservation laws can be derived from the form invariance of di?erential equations undergoing in?nitesimal transformation. By introducing in?nitesimal transformations including time and spatial coordinates, the determining equations of a biped robot are established. Then the necessary and su?cient conditions for a biped robot to have conserved quantities are obtained. For the lateral-plane dynamical model of a biped robot, a Lie conserved quantity is found.

关键词： biped robot Lie symmetry conserved quantity

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

在线全文

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2009年第1期7卷 87-91页

作者： Baoping WANG Renxi HU Jinming ZHANG Chuangfeng HUAI 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

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.

关键词： biped robot Balance recovery control Reaction null space Step strategy

ZMP-based Gait Optimization of the biped robot

在线全文

学校读者我要写书评

暂无评论

Journal of Donghua University(English Edition) 2003年第4期20卷 83-86页

作者：窦瑞军马培荪谢玲 robot Institute Shanghai Jiao Tong University Shanghai 200030 University of Shanghai for Science and Technology 200093he gait of the biped robot is described using six parameters such as stature velocity length of the step etc. The algorithm of the Newton-Euler is actualized by object-oriented idea and then the zero moment point (ZMP) of the dynamically walking biped is calculated. Finally the gait of biped is optimized using gene algorithm and the optimized result prove the correctness of the algorithm.

The gait of the biped robot is described using six parameters such as stature,velocity,length of the step,*** algorithm of the Newton-Euler is actualized by object-oriented idea,and then the zero moment point (ZMP) of the dynamically walking biped is ***,the gait of biped is optimized using gene algorithm,and the optimized result prove the correctness of the algorithm.

关键词： biped robot gait design zero moment point (ZMP) genetic algorithm

Walking Control of a Semi-Passive biped robot based on Repetitive Control Algorithm 36

在线全文

学校读者我要写书评

暂无评论

Walking Control of a Semi-Passive Biped Robot based on Repet...

Anti-interference and Stable Walking of biped robot Based on a Structured Gait

第36届中国控制会议

作者： Yali Zhou Qizhi Zhang School of Automation Beijing Information Science ＆ Technology University

ISBN: (纸本)9781538629185

The walking control on level ground of a semi-passive biped robot is ***,the dynamic equation of the swing phase is derived using the Euler-Lagrange method,and the transition model at heelstrike collision is derived based on conservation of angular momentum and impulse-momentum *** a toe-off impulse is applied to the stance leg just before *** initial impulse value is obtained by solving the linearized equations during the swinging *** on the initial value,the repetitive control（RC） algorithm is used to make the value of the toe-off impulse more ***,computer simulations are carried out to verify the effectiveness of the presented *** results show that the convergence rate of the RC algorithm is superior to that of the ILC algorithm,and the biped robot can walk stably on level ***,all the eigenvalues of the Jacobian matrix are located inside the unit circle,so the stability condition of the biped robot system is satisfied.

关键词： biped robot Semi-passive walking Impulsive push Repetitive control algorithm

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

Anti-interference and Stable Walking of Biped Robot Based on...

Stability and control of dynamic walking for a five-link planar biped robot with feet

第25届中国控制与决策会议

作者： Datao Wang Fangzheng Xue Zhicheng Hou College of Automation Chongqing University

ISBN: (纸本)9781467355322

Aiming at biped robot’s weak ability to resist interference in unpredictable environment, this paper proposes a closed-loop control system based on the structured gait. By a simplified model of biped robot, walking parameters such as step length, amplitude, frequency are included in a unified gait vector as well as step phase, and a structured gait is constructed. According to inverse kinematics, we can get all the joint’s locomotion trajectory of biped robot, including that of hip joint acquired from Numerical Optimization method whose optimum index is maximum ZMP stable region. Then, taking the coarse-grained trajectory of characteristic variables as the reference input of the closed control loop, walking parameter generator adjusts four parameters of structured gait vector by obtaining feedback from multiple sensors, and guarantees the robot’s stability. At last, we perform simulation experiments by exerting external force and placing obstacles, which illustrate that the biped walking based on structured gait method is more robust and stable.

关键词： biped robot Walking Planning Anti-interference a Structured Gait

来源： cnki会议评论

在线全文

cnki会议

学校读者我要写书评

暂无评论

控制理论与应用（英文版） 2007年第2期5卷 113-120页

作者： Chenglong FU Ken CHEN Jing XIONG Leon XU Department of Precision Instruments and Mechanology Tsinghua University Beijing 100084 China Nokia Research Center Beijing 100013 China

During dynamic walking of biped robots, the underactuated rotating degree of freedom （DOF） emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems （DVHS）. Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.

关键词： biped robot Dynamic walking Orbit stability Dimension-variant hybrid systems Nonlinear control

biped Walking robot Based on a 2-UPU+2-UU Parallel Mechanism

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2014年第2期27卷 269-278页

作者： MIAO Zhihuai YAO Yan'an KONG Xianwen School of Mechanical Electronic and Control Engineering Beijing Jiaotong University School of Engineering and Physical Sciences Heriot-Watt University

Existing biped robots mainly fall into two categories： robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU＋2-UU parallel mechanism. The biped walking robot is composed of two identical platforms（feet） and four limbs, including two UPU（universal-prismatic-universal serial chain） limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.

关键词： parallel mechanism biped robot screw theory gait analysis