關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Bipedal walking with push recovery balance control involves posture correction

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序號 學年期 教師動態
1 108/1 電機系 劉智誠 助理教授 期刊論文 發佈 Bipedal walking with push recovery balance control involves posture correction , [108-1] :Bipedal walking with push recovery balance control involves posture correction期刊論文Bipedal walking with push recovery balance control involves posture correctionC.C. Liu; T.T. Lee; S.R. Xiao; Y.C. Lin; Z.X. Chou; C.C. WongMicrosystem TechnologiesIn 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.
2 108/1 電機系 翁慶昌 教授 期刊論文 發佈 Bipedal walking with push recovery balance control involves posture correction , [108-1] :Bipedal walking with push recovery balance control involves posture correction期刊論文Bipedal walking with push recovery balance control involves posture correctionC.C. Liu; T.T. Lee; S.R. Xiao; Y.C. Lin; Z.X. Chou; C.C. WongMicrosystem Technologies p.1-12SCI;否
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