Stability Control and Simulation Experiments of Biped Humanoid Robot Walking on Rough Terrains

Stability Control and Simulation Experiments of Biped Humanoid Robot Walking on Rough Terrains

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摘要 In this paper, we provide several methods to solve the problem of humanoid robot walking on rough terrains. By using the Passive Inverted Pendulum Model（PIPM） and predictive control, with some optimizing strategy added, we realized the smooth walking on a slope with rocks on it.

作者 Jiang Kai

机构地区 Shanghai Jiao Tong University

出处《International Journal of Technology Management》 2015年第1期114-116,共3页 国际技术管理

关键词 Humanoid Robot ZMP Predictive Control Biped Walking 人形机器人模拟试验稳定控制地势仿人机器人预测控制优化策略倒立摆

分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] U467.13 [自动化与计算机技术—控制科学与工程]

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International Journal of Technology Management

2015年第1期

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Stability Control and Simulation Experiments of Biped Humanoid Robot Walking on Rough Terrains

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