Motion control strategy for humanoid robot MIH-1

Jing Pan; Jianbo Su; Xusheng Lei; Feng Lan

Motion control strategy for humanoid robot MIH-1

Jing Pan^*
, Jianbo Su
, Xusheng Lei
, Feng Lan

^*此作品的通讯作者

Shanghai Jiao Tong University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

源语言	英语
主期刊名	IEEE International Conference on Mechatronics and Automation, ICMA 2005
页	819-824
页数	6
出版状态	已出版 - 2005
已对外发布	是
活动	IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, 加拿大期限: 29 7月 2005 → 1 8月 2005

丛书

姓名	IEEE International Conference on Mechatronics and Automation, ICMA 2005

会议

会议	IEEE International Conference on Mechatronics and Automation, ICMA 2005
国家/地区	加拿大
市	Niagara Falls, ON
时期	29/07/05 → 1/08/05

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

其它文件与链接

链接到 Scopus 的出版物

引用此

@inproceedings{f2577357876d41f08ec20495d09fabe8,

title = "Motion control strategy for humanoid robot MIH-1",

abstract = "In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.",

keywords = "Constrained motion, Gait generation, Humanoid robot, Passive dynamic walking",

author = "Jing Pan and Jianbo Su and Xusheng Lei and Feng Lan",

year = "2005",

language = "英语",

isbn = "0780390458",

series = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

pages = "819--824",

booktitle = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

note = "IEEE International Conference on Mechatronics and Automation, ICMA 2005 ; Conference date: 29-07-2005 Through 01-08-2005",

}

TY - GEN

T1 - Motion control strategy for humanoid robot MIH-1

AU - Pan, Jing

AU - Su, Jianbo

AU - Lei, Xusheng

AU - Lan, Feng

PY - 2005

Y1 - 2005

N2 - In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

AB - In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run.

KW - Constrained motion

KW - Gait generation

KW - Humanoid robot

KW - Passive dynamic walking

UR - https://www.scopus.com/pages/publications/27744515026

M3 - 会议稿件

AN - SCOPUS:27744515026

SN - 0780390458

T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

SP - 819

EP - 824

BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005

T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

Y2 - 29 July 2005 through 1 August 2005

ER -

Motion control strategy for humanoid robot MIH-1

摘要

丛书

会议

联合国可持续发展目标

其它文件与链接

学术指纹

引用此