Paper Title:
Stability Analysis of Biped Robot with an Efficient Approach
  Abstract

Abstract: For biped robot, to control the moving stability is the key technology for the design. The biped robot has a human figure and several pose when moving. It is difficult to control its dynamic stability using the traditional method. This article gives a dynamic energy pyramid method, derives the characteristic parameter ----overturning stability index that maintain stable, and gives the method to calculate the overturning stability index. According to the overturning stability index, using the fuzzy neural network adaptive control system can change the configuration and velocity of the robot real time to assure its overturning stability. It will be easier to control the stable movement of the robot using the parameter. The action generated by the system has good practicability and high reliability, also can reduce the danger in the movement of the robot.

  Info
Periodical
Advanced Materials Research (Volumes 308-310)
Chapter
New Mechanisms and Robotics
Edited by
Jian Gao
Pages
2152-2157
DOI
10.4028/www.scientific.net/AMR.308-310.2152
Citation
M. Q. Liu, Q. D. Tang, Y. L. Zhang, "Stability Analysis of Biped Robot with an Efficient Approach", Advanced Materials Research, Vols. 308-310, pp. 2152-2157, 2011
Online since
August 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: De Jun Liu, Yan Tao Tian, Hong Jiang
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...
540
  | Authors: Yeoun Jae Kim, Joon Yong Lee, Ju Jang Lee
Chapter 4: Robotics and Human Interface
Abstract:It is still important and difficult for a biped robot to optimally generate the stable walking trajectory, because the mechanical limitations...
414
Authors: Xue Feng Zhou, Peng Huang, Gong Zhang, Xian Shuai Chen
Chapter 4: Mechanical Engineering
Abstract:Tipping-over and slipping, which are related to zero moment point (ZMP) and frictional constraint respectively, are the most two common...
420
Authors: Hai Long Chen, Xiao Wu, Jun Du, Jin Ping Tang
Chapter 3: Mechatronics, Control and Automation, Measurement and Measuring Equipment
Abstract:This paper uses biped walking robot as the research object, and designs robots original system, based on the requirements of Biped Walking...
674
Authors: Jun Sun, Ling Lu, Jun Qing Chen, Jiu Fu Jin
Chapter 12: Industrial Robotics and Automation
Abstract:Biped robots research is mainly concentrated on the control system development and doing simulation, cubic spline interpolation method is...
1995