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 en
ISSN 0946-7076
期刊性質 國外
收錄於 SCI SSCI
產學合作
通訊作者
審稿制度 是
國別 DEU
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/118136 )