By Topic

Design and Implementation of Coordinated Control Strategy for Biped Robot with Heterogeneous Legs

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Fei Wang ; Northeastern Univ., Shenyang ; Wu, Chengdong ; Yunzhou Zhang ; Xinhe Xu

To meet the complicated control requirement of biped robot with heterogeneous legs (BRHL), the master-slave dual-leg coordinated control strategy was adopted to simplify its planning scheme, of which the key of coordination is gait tracking control. Bionic knee joint enables the robot to walk more like human, but its modeling is complex and the control of bionic leg to track artificial leg is difficult. The P-type open/closed-loop iterative learning control (ILC) is therefore put forward to combine together the merits of open-loop and closed-loop ILC without a model to rely on so as to fit the control of gait tracking for complicated biped robot system. Experimental results demonstrate the correctness and effectiveness of the proposed coordinated control scheme.

Published in:

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Date of Conference:

5-8 Aug. 2007