Bipedal walking with push recovery balance control involves posture correction

淡江大學機構典藏 > 工學院 > 電機工程學系暨研究所 > 期刊論文 > Item 987654321/118136

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題名:	Bipedal walking with push recovery balance control involves posture correction
作者:	Liu, C.C.;Lee, T.T.;Xiao, S.R.;Lin, Y.C.;Chou, Z.X.;Wong, C.C.
日期:	2019-08-31
上傳時間:	2020-02-25 12:10:55 (UTC+8)
摘要:	In this paper, a bipedal walking with push recovery balance control is proposed which involves posture correction of the robot. The biped robot could become unstable when it is under the influence of an external force. The method is proposed to achieve balance under such influence. Specifically, a set of force sensors are used to calculate the zero moment point, while a gyroscope and an accelerometer are used to estimate the inclination angle of the robot. Then, this sensor feedback is used to adjust the standing posture so that the robot can maintain the upright and stable state. Finally, an integral control for the static standing posture correction and a linear inverted pendulum with a flywheel model are developed for dynamic walking balance. The experimental results show that the proposed method enables the biped robot to achieve self-balance.
關聯:	Microsystem Technologies
DOI:	10.1007/s00542-019-04532-x
顯示於類別:	[電機工程學系暨研究所] 期刊論文

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