Biped Robot Control System Based on Adaptive Gain Energy Control with Angle Invariant

De Jun Liu; Yan Tao Tian; Hong Jiang

doi:10.4028/www.scientific.net/AMR.225-226.540

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 225-226Biped Robot Control System Based on Adaptive Gain...

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.

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Periodical:

Advanced Materials Research (Volumes 225-226)

Pages:

540-545

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.225-226.540

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Online since:

April 2011

Authors:

De Jun Liu, Yan Tao Tian, Hong Jiang

Keywords:

Angle Invariant, Energy Control, Limit Cycle, Passive Walking

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