| 异构双腿机器人步态规划与控制实现 |
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| 引用本文： | 李飞,谢华龙,徐心和.异构双腿机器人步态规划与控制实现[J].东北大学学报(自然科学版),2007,28(8):1081-1084. |
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| 作者姓名： | 李飞 谢华龙 徐心和 |
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| 作者单位： | 1. 东北大学,信息科学与工程学院,辽宁,沈阳,110004
2. 东北大学,机械工程与自动化学院,辽宁,沈阳,110004 |
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| 基金项目： | 国家自然科学基金，高等学校博士学科点专项科研项目 |
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| 摘 要： | 为了给智能仿生腿的开发提供一个理想的研究平台,提出了异构双腿行走机器人(BRHL)这一全新的类人机器人模式.首先阐述了BRHL的概念及研究意义,然后基于分割建模思想给出了BRHL的协调动力学模型.提出了修正的Sigmoid磁流变阻尼器建模方法并进行了实验建模.详细阐述了基于步态跟随的BRHL步态规划方法并进行了仿真.最后给出了BRHL的控制系统设计,利用Pro/E,ADAMS及MATLAB/Simulink对BRHL进行了虚拟样机联合控制仿真.仿真结果表明,基于MR阻尼器控制的仿生腿能够很好地实现对人工腿的步态跟随.
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| 关 键 词： | 异构双腿行走机器人 智能仿生腿 磁流变阻尼器 步态跟随 |
| 文章编号： | 1005-3026（2007）08-1081-04 |
| 修稿时间： | 2006-08-31 |
Gait Planning and Control Implementation of Biped Robot with Heterogeneous Legs |
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| LI Fei,XIE Hua-long,XU Xin-he.Gait Planning and Control Implementation of Biped Robot with Heterogeneous Legs[J].Journal of Northeastern University(Natural Science),2007,28(8):1081-1084. |
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| Authors: | LI Fei XIE Hua-long XU Xin-he |
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| Institution: | (1) School of Information Science and Engineering, Northeastern University, Shenyang 110004, China; (2) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China |
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| Abstract: | To provide an ideal testing platform to develop intelligent bionic legs,a new mode of humanoid biped robot with heterogeneous legs(BRHL) is proposed.Describes the concept of BRHL and what it can offer for such development.Based on the idea of segmentation modeling,a coordinated kinetic model is given to BRHL.A modified Sigmoid model of magneto-rheological damper(MR damper) is proposed with modeling test done.Then,based on gait tracking,the gait planning of BRHL is described in detail for simulation.With the BRHL control system designed,the softwares Pro/E,ADAMS and MATLAB/Simulink are used to simulate the combined control with virtual prototype robot.The result indicates that intelligent bionic leg controlled by MR damper can track the artificial leg's gait well. |
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| Keywords: | biped robot with heterogeneous legs intelligent bionic leg MR damper gait tracking |
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