Gait perception and coordinated control of a novel biped robot with heterogeneous legs
Document Type
Conference Proceeding
Publication Date
12-1-2006
Abstract
This paper presents gait perception and coordinated control of a Biped robot with heterogeneous legs (BRHL), which is a new type of humanoid robot. This paper first introduces the concepts and research objectives of a BRHL. Then configuration of a BRHL is discussed in detail. The coordinated dynamics model and MR damper model are given. Rules based on gait perception are introduced. In the end, this paper discusses the control structure of a BRHL. Simulation and prototype of a BRHL are discussed. The research indicates that intelligent bionic leg controlled by MR damper can track artificial leg's gait well. A BRHL provides an ideal test-bed for advanced intelligent prosthesis. © 2006 IEEE.
Publication Title
IEEE International Conference on Intelligent Robots and Systems
Recommended Citation
Xinhe, X.,
Hualong, X.,
Binrui, W.,
&
Jindong, T.
(2006).
Gait perception and coordinated control of a novel biped robot with heterogeneous legs.
IEEE International Conference on Intelligent Robots and Systems, 356-361.
http://doi.org/10.1109/IROS.2006.281717
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/10660