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Research of gait planning and control for biped robot with heterogeneous legs

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4 Author(s)
Hualong Xie ; Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang ; Yu Zhang ; Yongxian Liu ; Xinhe Xu

Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. First, the conception and research purpose of HRHL are introduced. Then, kinematics model, coordinated dynamics model and MR damper model are given. Based on gait tracking, gait planning method of BRHL is discussed and simulation is done. In the end, this paper discusses the control model of BRHL and gives combined control simulation. The result indicates that intelligent bionic leg controlled by MR damper can track artificial legpsilas gait well.

Published in:

Control and Decision Conference, 2008. CCDC 2008. Chinese

Date of Conference:

2-4 July 2008