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Abstract: Since
a humanoid robot tends to tip over easily while walking on uneven
terrain, an online regulating control algorithm is proposed based on
Kane collision theory, to prevent humanoid robot from tipping over while
walking on uneven ground. This regulating algorithm can compute the
dynamic model of the robot rapidly, and can estimate the values of the
impacting force acting on leg by ground. These data of impacting force
can be used to adjust the gait of legs and torso for a humanoid robot to
pass over the scraggy obstacle successfully. By using this algorithm,
walking simulations of online control on a 5-link humanoid model are
performed in the MATLAB/Simulink environment and the effectiveness of
the proposed algorithm is illustrated.
Key words:Humanoid
robot Locomoting on uneven ground Kane collision theory Control
strategy
CLC No: TP24
国家863计划(2003AA420010-05)、中国博士后科学基金(2004035313)和清华―中大博士后科学基金资助项目.Received 20051125,received in revised form 20060302
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