Designing Synergistic Walking of a Whole-Body Humanoid Driven by Pneumatic Artificial Muscles: An Empirical Study
Designing Synergistic Walking of a Whole-Body Humanoid Driven by Pneumatic Artificial Muscles: An Empirical Study
复制标题
设计气动人工肌肉驱动的全身人形协同行走：一项实证研究
DOI：
10.1163/156855308x324811
复制
发表时间：
2008
影响因子：
2
通讯作者：
K. Hosoda
中科院分区：
文献类型：
--
作者：
Kenichi Narioka;K. Hosoda
我们的身体由许多身体部位组成，这些部位通过肌肉和韧带相互连接，它们的行为来自全身动力学的协同作用。这种协同行为的产生应该有助于人类的适应性运动，如步行。设计了一种由人工气动肌肉对抗驱动关节的全身仿人机器人的协同行走。我们建议采取增量设计方法来处理复杂的动态系统。因此，我们可以确定控制全身行为的控制参数。我们的实验表明，人形行走稳定与一个简单的极限环控制器。
Our body consists of many body parts that are compliantly connected with each other by muscles and ligaments, and their behavior emerges out of the synergy of the whole-body dynamics. Such synergistic behavior generation is supposed to contribute to human adaptive movement such as walking. This paper describes designing synergistic walking of a whole-body humanoid robot whose joints are driven by artificial pneumatic muscles antagonistically. We propose to take an incremental design approach to deal with the complicated dynamics of the system. As a result, we can determine control parameters that govern whole-body behavior. We experimentally demonstrate that the humanoid walks stably with a simple limit-cycle controller.
肌肉驱动的柔性脊柱人形机器人的开发
DOI：
--
发表时间：
2005
期刊：
Proceedings of IEEE-RAS International Conference on Humanoid Robots
影响因子：
--
作者：
I.Mizuuchi;T.Yoshikai;Y.Nakanishi;et al.(計10名)
通讯作者：
et al.(計10名)
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T
双足仿人机器人多种行走模式的评估
DOI：
--
发表时间：
2005
期刊：
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Yu Ogura;et al.
通讯作者：
et al.