GaitPerception andCoordinated Control ofaNovelBiped Robot withHeterogeneous Legs

Thispaperpresents gaitperception and coordinated control ofa Bipedrobotwithheterogeneous legs (BRHL), whichisanewtypeofhumanoid robot. Thispaperfirst introduces theconcepts andresearch objectives ofaBRHL.Then configuration ofaBRHL isdiscussed indetail. Thecoordinated dynamics modelandMR dampermodelaregiven. Rulesbased on gaitperception areintroduced. In theend,thispaper discusses thecontrol structure ofa BRHL. Simulation and prototype ofaBRHL arediscussed. Theresearch indicates that intelligent bionic legcontrolled by MR dampercantrack artificial leg's gait well. A BRHL provides anideal test-bed for advanced intelligent prosthesis.

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