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Dynamic control strategy of a biped inspired from human walking
In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase fo...
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| creator | Serhan, H. Henaff, P. Nasr, C. Ouezdou, F. |
| description | In this paper, we show that a biped robot can walk dynamically using a simple control technique inspired from human locomotion. We introduce four critical angles that affect robot speed and step length. Our control approach consists in tuning the PID parameters of each joint in each walking phase for introducing active compliance and then to increase stability of the walk. We validated the control approach to a dynamic simulation of our 14DOF biped called ROBIAN. A comparison with human walking is presented and discussed. We prove that we can maintain robot stability and walk cyclepsilas repetition without referencing a predefined trajectory or detecting the center of pressure. Results show that the walk of the biped is very similar to human one. A power consumption analysis confirms that our approach could be implemented on the real robot ROBIAN. |
| doi_str_mv | 10.1109/BIOROB.2008.4762797 |
| format | conference_proceeding |
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| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 2155-1774 |
| ispartof | 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008, p.342-347 |
| issn | 2155-1774 2155-1782 |
| language | eng |
| recordid | cdi_ieee_primary_4762797 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Biological control systems Centralized control Humans IEEE members Legged locomotion Optimal control Oscillators Robots Three-term control Tuning |
| title | Dynamic control strategy of a biped inspired from human walking |
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