重庆大学学报2013，Vol.36Issue(2)：45-50,6.
双足机器人动态步行仿人智能控制
Human simulated intelligent control for dynamic walking of biped robot
摘要
Abstract
A human simulated intelligent control scheme based on sensory-motor schema for dynamic walking of biped robot is presented to solve the complex controller design. The dynamics model of a five-link planar biped is established. By imitating human walking movement and apprehending the posture change of the legs, the complex process of dynamic walking for biped robot is divided by four sequence phases. The multi-mode control law and the group of sensory-motor schema are designed based on the analysis of quality-quantity combination to the phase plane. Simulation results show that the proposed control strategy is effective to ensure continuous dynamic walking of biped robot and the control method is simple and easy to be realized.关键词
双足运动/动态步行/控制系统/仿人智能控制/动觉智能图式Key words
biped locomotion/dynamic walking/control systems/human simulated intelligent control/sensory-motor schema分类
信息技术与安全科学引用本文复制引用
刘成军,薛方正,李祖枢,邓航见..双足机器人动态步行仿人智能控制[J].重庆大学学报,2013,36(2):45-50,6.基金项目
国家自然科学基金资助项目(60905053,60574076) （60905053,60574076）
