Development of control system in a biped robot with heterogeneous legs
Document Type
Conference Proceeding
Publication Date
12-1-2006
Abstract
This paper discusses how a biped robot with heterogeneous legs imitates a person's walking from gait design, gait planning and gait control. A biped robot with heterogeneous legs(BRHL) robot consists of an artificial leg and an intelligent bionic leg. The purpose of this robot's design is to make the intelligent bionic leg follow the artificial leg's movement, which provides an excellent platform for the research of intelligent prosthetic leg. After the introduction of gait design and gait planning, a semi-active kneel control method is proposed for magneto-rheological (MR) damper in the intelligent bionic leg. And an overall control system scheme is presented. Simulative and practical system experiments prove the validity of the presented plan and proposed algorithm. © 2006 IEEE.
Publication Title
9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
Recommended Citation
Jun, X.,
Pengyu, J.,
Xinhe, X.,
&
Jindong, T.
(2006).
Development of control system in a biped robot with heterogeneous legs.
9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06.
http://doi.org/10.1109/ICARCV.2006.345465
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/10532