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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Xu-Sheng Lei Jing Pan Jian-Bo Su |
| Copyright Year | 2005 |
| Description | Author affiliation: Dept. of Autom., Shanghai Jiao Tong Univ., China (Xu-Sheng Lei; Jing Pan; Jian-Bo Su) |
| Abstract | The objective of this paper is to propose a locomotion control method for humanoid robot to realize stable walking, which consisting of optimal joint generation and feedback error compensation. Using energy consumption as criteria, the proposed method can generate a series of joint trajectory for different walking steps and speed. Furthermore, to improve system stability and adaptability, a fuzzy-GA is trained to compensate system errors. Based on sensor information, humanoid robot can get environment and inherent situation and use the proposed method to adjust joint trajectory. The effectiveness of the method is shown with a 28 DOF humanoid robot in ADAMS. |
| Sponsorship | IEEE Syst., Man and Cybernetics Tech. Comm. on Cybernetics, Hong Kong Polytechnic Univ. Hebei Univ. South China Univ. Chongqing Univ. Sun Yat-sen Univ. Harbin Inst. of Technol. and Int. Univ. in Germany |
| Starting Page | 882 |
| Ending Page | 887 |
| File Size | 467418 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780390911 |
| DOI | 10.1109/ICMLC.2005.1527068 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-08-18 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Humanoid robots Legged locomotion Stability Energy consumption Humans Control systems Robotics and automation Intelligent robots Error compensation Hip Fuzzy control Humanoid robot Optimal trajectory |
| Content Type | Text |
| Resource Type | Article |
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