Proposal of biped walking control based on robust hybrid position/force control
Proposal of biped walking control based on robust hybrid position/force control
复制标题
基于鲁棒混合位置/力控制的双足步行控制的提出
DOI：
--
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
A. Kawamura
中科院分区：
文献类型：
--
作者：
Y. Fujimoto;A. Kawamura
本文提出了一种基于力控制的仿人步行控制方法。所提出的控制系统可以稳定的脚和地面之间的接触力在建议的限制。因此，提出了一种分层控制，通过它可以实现腿的运动。将所提出的控制系统应用于19轴仿真模型，并显示了稳定行走的结果。
This paper describes a novel biped walking control based on a force control. The proposed control system can stabilize the contact force between the foot and the ground under the proposed restrictions. As a result, a hierarchical control is proposed by which the legged locomotion can be realized. The proposed control system is applied to the 19 axes simulation model and the results of stable walking are shown.