Hybrid Position/Force Algorithms for Biped Locomotion
نویسندگان
چکیده
منابع مشابه
Hybrid Position/force Algorithms for Biped Locomotion
This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete walking cycle is divided in two phases: i) single support in which it is studied the trajectory controllability based on simple motion goals and ii) exchange of support in which the forward leg should absorb the impact and then gradually acc...
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Bipedal locomotion is a significantly complex yet surprisingly efficient means of movement. Long thought to require a high degree of feedback control, modern research has shown that periodic bipedal gaits are generated by central pattern generators (CPG) (Ijspeert, 2008). While feedback can and often does play a role in determining the parameters of the CPG when an animal moves, basic periodic ...
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Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...
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Please cite this article in press as: M. Raj, V. Bhaskar Semwal, G.C.Nandi. Hybrid Model for Passive Locomotion Control of a Biped Humanoid:The Artificial Neural Network Approach, International Journal of Interactive Multimedia and Artificial Intelligence, (2017), http://dx.doi.org/10.9781/ijimai.2017.10.001 * Corresponding author. E-mail addresses: [email protected] (Manish Raj), vsemwal@...
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This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2000
ISSN: 1474-6670
DOI: 10.1016/s1474-6670(17)37971-5