Intelligent control of biped robot with heterogeneous legs
Document Type
Conference Proceeding
Publication Date
1-1-2005
Abstract
Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL. Copyright © 2005 IFAC.
Publication Title
IFAC Proceedings Volumes (IFAC-PapersOnline)
Recommended Citation
Wang, B.,
Xu, X.,
&
Tan, J.
(2005).
Intelligent control of biped robot with heterogeneous legs.
IFAC Proceedings Volumes (IFAC-PapersOnline),
16, 181-186.
http://doi.org/10.3182/20050703-6-cz-1902.01300
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/14063