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Walking Stability Compensation Strategy of a Small Humanoid Robot Based on the Error of Swing Foot Height and Impact Force : Strategia di compensazione per la stabilizzazione della camminata di un piccolo umanoide basata sull'errore dell'alzata del piede, in: International Journal of Advanced Robotic Systems

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Author Zhao, Jiandong; Li, Zhaoxuan; Zheng, Jun; Shen, Tong
Published  InTech Open Access Publisher, 2013
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Abstract In order to reduce the impact force of swing legs
and improve walking stability when a small humanoid
robot is walking, a set of impact dynamics equations
based on the second kind Lagrange equation is produced,
and an impact compensation control strategy with a BP
network optimized by a particle swarm algorithm is
designed. The core element of the compensation
controller is replacing the error back propagation with a
particle swarm algorithm. Due to the regulating joints of
the knee, hip and ankle, the walking process is more
stable than before. The experiment results show that
when the left swing leg lands, the impact force drops by
2N and 1.5N respectively in the moments 4.5s and 10.5s.
Therefore, the compensation strategy can reduce the
impact force effectively and improve the walking
stability.
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no fulltext found International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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Documents: International Journal of Advanced Robotic Systems
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Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31823009.html
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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