| 仿人机器人实时步态控制系统设计 |
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| 引用本文： | 钟秋波,朴松昊,方宝富,洪炳镕.仿人机器人实时步态控制系统设计[J].华中科技大学学报(自然科学版),2011,39(9):53-56. |
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| 作者姓名： | 钟秋波 朴松昊 方宝富 洪炳镕 |
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| 作者单位： | 1. 宁波工程学院电子与信息工程学院,浙江宁波315016／哈尔滨工业大学计算机科学与技术学院,哈尔滨150001
2. 哈尔滨工业大学计算机科学与技术学院,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目(61075077) |
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| 摘 要： | 采用智能优化方法进行仿人机器人实时步态控制系统设计，把仿人机器人的上楼梯过程近似为7连杆模型，并推导出1个周期内的运动学方程；使用2个模糊控制器分别对上楼梯过程中单双腿支撑周期内的关节轨迹输出进行离线学习训练，通过嵌入式视觉系统采集环境信息作为控制器的输入信息，并进行实时控制；同时为了解决模糊控制器离线训练过程耗时长、...
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| 关 键 词： | 仿人机器人 模糊逻辑 微粒群优化 步态规划 最优控制 |
Real-time gait control systems design for humanoid robots |
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| Zhong Qiubo, Piao Songhao Fang Baofu Hong Bingrong.Real-time gait control systems design for humanoid robots[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2011,39(9):53-56. |
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| Authors: | Zhong Qiubo Piao Songhao Fang Baofu Hong Bingrong |
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| Institution: | Zhong Qiubo1,2 Piao Songhao2 Fang Baofu2 Hong Bingrong2(1 College of Electronic and Information Engineering,Ningbo University of Technology,Ningbo 315016,Zhejiang China,2 School of Computer Science and Technology,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | Real-time gait control systems for humanoid robots was designed using the intellignet optimization method.Its ascending the stairs was approximately to a seven links model,and the kinematics equations during one period were derived.Then,two fuzzy logic controllers were designed for the input of joints trajectories during the single and double support periods in the process of stairs motion respectively and trained offline.The environmental message were gathered by an embedded vision system and taken as the ... |
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| Keywords: | humanoid robot fuzzy logic particle swarm optimization(PSO) gait planning optimal control |
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