论文信息 - Control of variable speed gaits for a biped robot

Control of variable speed gaits for a biped robot

We discuss a balance scheme for handling variable-speed gaits that was implemented on an experimental biped at the University of New Hampshire. The control scheme uses preplanned but adaptive motion sequences in combination with closed-loop reactive control. CMAC neural networks are responsible for the adaptive control of side-to-side and front-to-back balance. The biped is able to walk with variable-speed gaits and to change gait speeds on the fly. The slower gait speeds require statically balanced walking, while the faster speeds require dynamically balanced walking. It is not necessary to distinguish between the two balance modes within the controller. Following training, the biped is able to walk on flat, nonslippery surfaces at forward velocities in the range of 21 cm/min to 72 cm/min, with an average stride length of 6.5 cm.

Andrew L. Kun | W. Thomas Miller | W. Miller | A. Kun

[1] J. Albus. Mechanisms of planning and problem solving in the brain , 1979 .

[2] Miomir Vukobratovic,et al. An Approach to Biped Control Synthesis , 1989, Robotica.

[3] W. T. Miller,et al. CMAC: an associative neural network alternative to backpropagation , 1990, Proc. IEEE.

[4] Tooru Nogai,et al. Study of lower level adaptive walking in the sagittal plane by a biped locomotion robot , 1991, Adv. Robotics.

[5] Stephen M. Scalera,et al. Bipedal Gait Adaptation For Walking With Dynamic Balance , 1991, 1991 American Control Conference.

[6] Yuan F. Zheng,et al. Gait synthesis for a biped robot climbing sloping surfaces using neural networks. II. Dynamic learning , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[7] W.T. Miller. Real-time neural network control of a biped walking robot , 1994, IEEE Control Systems.

[8] Andrew L. Kun,et al. Adaptive dynamic balance of a biped robot using neural networks , 1996, Proceedings of IEEE International Conference on Robotics and Automation.