Name
Abstract | ||
|---|---|---|
When position-controlled biped robot is blind walking on a uneven terrain at a high speed, huge foot contact impacts will be generated. However, traditional admitance control can't absorb the impact and stabilize the robot due to its slow response and Incompleteness. In this paper, we propose a control strategy including respectively designed swing leg control and support leg control with a new approach of control transition. For Swing leg control, double spring damping model is presented to optimize the admitance controller with faster response and better robustness, and a active foot height controller is also proposed to reduce the impact further. On the other hand, the control transition is accomplished by using a bionic fuzzy control. As a result, the foot contact impact can be reduced and the robot can blind walk fast on uneven terrain. Finally, the validity of the proposed strategy is confirmed by the simulation. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/Humanoids43949.2019.9035039 | 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) |
Keywords | DocType | ISSN |
hierarchical control strategy,position-controlled biped robot,blind walking,huge foot contact impacts,traditional admitance control,leg control,control transition,double spring damping model,admitance controller,active foot height controller,bionic fuzzy control,foot contact impact | Conference | 2164-0572 |
ISBN | Citations | PageRank |
978-1-5386-7631-8 | 0 | 0.34 |
References | Authors | |
0 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chencheng Dong | 1 | 0 | 1.01 |
| Xuechao Chen | 2 | 46 | 19.24 |
| Zhangguo Yu | 3 | 46 | 19.12 |
| Zelin Huang | 4 | 0 | 0.34 |
| Qingqing Li | 5 | 0 | 2.37 |
| Qinqin Zhou | 6 | 5 | 1.58 |
| Qiang Huang | 7 | 266 | 91.95 |