教師資料查詢 | 類別: 期刊論文 | 教師: 劉智誠 LIU, CHIH-CHENG (瀏覽個人網頁)

標題:Bipedal walking with push recovery balance control involves posture correction
學年108
學期1
出版(發表)日期2019/08/31
作品名稱Bipedal walking with push recovery balance control involves posture correction
作品名稱(其他語言)
著者C.C. Liu; T.T. Lee; S.R. Xiao; Y.C. Lin; Z.X. Chou; C.C. Wong
單位
出版者
著錄名稱、卷期、頁數Microsystem Technologies
摘要In this paper, a bipedal walking with push recovery balance control is proposed which involves posture correction of the robot. The biped robot could become unstable when it is under the influence of an external force. The method is proposed to achieve balance under such influence. Specifically, a set of force sensors are used to calculate the zero moment point, while a gyroscope and an accelerometer are used to estimate the inclination angle of the robot. Then, this sensor feedback is used to adjust the standing posture so that the robot can maintain the upright and stable state. Finally, an integral control for the static standing posture correction and a linear inverted pendulum with a flywheel model are developed for dynamic walking balance. The experimental results show that the proposed method enables the biped robot to achieve self-balance.
關鍵字
語言英文
ISSN0946-7076
期刊性質國外
收錄於SCI;SSCI;
產學合作
通訊作者
審稿制度
國別德國
公開徵稿
出版型式,電子版
相關連結
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