We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is construc...We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait＇s efficiency and system＇s stability in adapting to an uncertain terrain.展开更多
A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method...A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.展开更多
Dear Editor,I am coauthor of the paper entitled ＂Balance control of a humanoid robot based on the reaction null space method＂ by Akinori Nishio,Kentaro Takahashi and Dragomir N.Nenchev,published on pages 1996-2001 i...Dear Editor,I am coauthor of the paper entitled ＂Balance control of a humanoid robot based on the reaction null space method＂ by Akinori Nishio,Kentaro Takahashi and Dragomir N.Nenchev,published on pages 1996-2001 in the Proceeding of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems held 9-15 October 2006 in Beijing, China.展开更多
基金supported by the Science and Technology Innovation Fund for the Doctor
文摘We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait＇s efficiency and system＇s stability in adapting to an uncertain terrain.
基金supported by the National Natural Science Foundation of China (No.50675016)the Science and Technology Innovation Fund for the Doctor (No.48030)
文摘A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.
文摘Dear Editor,I am coauthor of the paper entitled ＂Balance control of a humanoid robot based on the reaction null space method＂ by Akinori Nishio,Kentaro Takahashi and Dragomir N.Nenchev,published on pages 1996-2001 in the Proceeding of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems held 9-15 October 2006 in Beijing, China.
