Paper Title:
Biped Robot Control System Based on Adaptive Gain Energy Control with Angle Invariant
  Abstract

The walking motion state of biped robot with knee is analyzed, the system model is established based on the walking phase; for the stability of passive walking gait is poor, The limit cycle convergence domain is smaller and sensitive to interference. Energy control and angle invariant control is merged, A steady gait is produced at different angles on the ground by the angle invariant control, the gait limit cycle convergence domain is expanded by the energy control method, the energy control gain is adjusted by nonlinear function. The simulation result shows that the method can expand the limit cycle convergence domain and increase the robustness.

  Info
Periodical
Advanced Materials Research (Volumes 225-226)
Chapter
Chapter 3: Architectonics,Materials Engineering and Network Technology
Edited by
Helen Zhang, Gang Shen and David Jin
Pages
540-545
DOI
10.4028/www.scientific.net/AMR.225-226.540
Citation
D. J. Liu, Y. T. Tian, H. Jiang, "Biped Robot Control System Based on Adaptive Gain Energy Control with Angle Invariant", Advanced Materials Research, Vols. 225-226, pp. 540-545, 2011
Online since
April 2011
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Price
$35.00
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