Intelligent Control of BRHL Based on MR Damper

Hua Long Xie; F. Li; Fei Wang; Yong Xian Liu

doi:10.4028/www.scientific.net/AMM.10-12.466

Paper Titles

Virtual Assembly System for Large-Scale Complex Products
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Off-Line Feed Rate Scheduling Using Virtual CNC
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Data Transfer from Heterogeneous CAD to Division Mockup Virtual Prototype
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Research on Exact Placement Technology of Virtual Assembly for Large-Scale Products
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Intelligent Control of BRHL Based on MR Damper
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DSP Curve Surface Interpolator Research Based on Open Platform
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PC-Based Human-In-the-Loop Simulation for Flight
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Cutting Parameters Optimization for Constant Cutting Force in Milling
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Tool Path Simulation Software with Ultra-Precision Grind for Aspherical Elements
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 10-12Intelligent Control of BRHL Based on MR Damper

Intelligent Control of BRHL Based on MR Damper

Abstract:

Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. This paper first introduces the conception, research purpose and configuration of HRHL. Then coordinated dynamics model and magneto-rheological (MR) damper model are given. 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 leg’s gait well.