Control of a Biped Robot During Double Support Phase and Load Sharing

机译：双支撑阶段和负载共享中的双支机器人控制

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This paper discusses control of a biped robot during its double support phase. We describe a method to control motion of the robot body and the contact force between feet and a floor at the same time. The task vectors proposed for a two-cooperative-arm robot are applied to the biped robot and calculation sequence of the control is proposed. Load sharing is considered for smooth switch between single and double supporting phases in the control method.

机译：本文讨论了在其双支撑阶段进行了控制的控制。我们描述了一种控制机器人身体运动和脚和地板之间的接触力的方法。提出了用于双合作臂机器人的任务向量应用于Biped机器人和计算序列。负载共享被认为是控制方法中单个和双支撑阶段之间的平滑开关。

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来源
《日本ロボット学会学術講演会》|2005年||共4页
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作者
山野光裕; 水戸部和久; 那須康雄; Mitsuhiro YAMANO; Kazuhisa MITOBE; Yasuo Nasu;
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原文格式 PDF
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中图分类 TP242-53;
关键词
Biped Robot; Double Support Phase; Load Sharing;

机译：Biped机器人;双支撑阶段;负载共享;

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1. Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases [J] . Reza Dehghani, Abbas Fattah, Esmaeil Abedi Multibody System Dynamics . 2015,第4期

机译：在单支撑和双支撑阶段中具有四个执行器的五连杆两足机器人的循环步态规划和控制
2. Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases [J] . Dehghani Reza, Fattah Abbas, Abedi Esmaeil Multibody system dynamics . 2015,第4期

机译：在单支撑和双支撑阶段，具有四个执行器的五连杆两足机器人的循环步态规划和控制
3. Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces [J] . Wang Liyang, Ge Yongyong, Chen Ming, Neural computing & applications . 2017,第12期

机译：扰动外力下双支撑阶段的动态平衡优化与控制
4. Control of a Biped Robot During Double Support Phase and Load Sharing [C] . 山野光裕, 水戸部和久, 那須康雄, 日本ロボット学会学術講演会 . 2005

机译：双支撑阶段和负载共享中的双支机器人控制
5. Geometric Control of Underactuated Mechanical Systems with Application Focus on Bipedal Robots [D] . Chen, Tan. 2021

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6. Luteal Phase Support in the Intrauterine Insemination (IUI) Cycles: A Randomized Double Blind Placebo Controlled Study [O] . Batool Hossein Rashidi, Fatemeh Davari Tanha, Haleh Rahmanpour, 2014

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7. Motion control of biped robots in single support phase based on neural network sliding mode approach [O] . Nguyễn Văn Khang, Trịnh Quốc Trung 2014

机译：基于神经网络滑动模式方法的单支撑阶段双支架机器人的运动控制

Control of a Biped Robot During Double Support Phase and Load Sharing

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