By Topic

Control of variable speed gaits for a biped robot

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

2 Author(s)
Kun, A.L. ; Dept. of Electr. & Comput. Eng., New Hampshire Univ., Durham, NH, USA ; Miller, W.T., III

We discuss a balance scheme for handling variable-speed gaits that was implemented on an experimental biped at the University of New Hampshire. The control scheme uses preplanned but adaptive motion sequences in combination with closed-loop reactive control. CMAC neural networks are responsible for the adaptive control of side-to-side and front-to-back balance. The biped is able to walk with variable-speed gaits and to change gait speeds on the fly. The slower gait speeds require statically balanced walking, while the faster speeds require dynamically balanced walking. It is not necessary to distinguish between the two balance modes within the controller. Following training, the biped is able to walk on flat, nonslippery surfaces at forward velocities in the range of 21 cm/min to 72 cm/min, with an average stride length of 6.5 cm

Published in:

Robotics & Automation Magazine, IEEE  (Volume:6 ,  Issue: 3 )