A cost oriented humanoid robot motion control system

J. Baltes, P. Kopacek, M. Schörghuber

研究成果: 書貢獻/報告類型會議論文篇章

2 引文 斯高帕斯(Scopus)

摘要

This paper deals with implementation of a distributed controller for a humanoid robot. This teen sized humanoid robot Archie is currently under development. The main idea is to develop a cost oriented humanoid robot (COHR) to assist humans for their daily life. After a short description of the existing hardware, the control is described. The control is realized by a PI controller for position and velocity of each joint of humanoid robot in specific time order. The main advantage of this method is to synchronize the motion of alljoints necessary for biped walking motion. The developed controller program was first tested by simulation and implemented on the robot. The results on the real robot show the efficiency of this method for the gait motion of the robot. Finally an outlook on further work is given.

原文英語
主出版物標題19th IFAC World Congress IFAC 2014, Proceedings
編輯Edward Boje, Xiaohua Xia
發行者IFAC Secretariat
頁面4529-4534
頁數6
ISBN(電子)9783902823625
DOIs
出版狀態已發佈 - 2014
事件19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, 南非
持續時間: 2014 八月 242014 八月 29

出版系列

名字IFAC Proceedings Volumes (IFAC-PapersOnline)
19
ISSN(列印)1474-6670

其他

其他19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
國家/地區南非
城市Cape Town
期間2014/08/242014/08/29

ASJC Scopus subject areas

  • 控制與系統工程

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