Institute of Intelligent Automation, Chongqing University, Chongqing 400044，China; College of Computer Science and Engineering, Chongqing University of Technology, Chongqing 400050，China 在期刊界中查找 在百度中查找 在本站中查找
A human simulated intelligent control scheme based on sensory-motor schema for dynamic walking of biped robot is presented to solve the complex controller design.The dynamics model of a five-link planar biped is established. By imitating human walking movement and apprehending the posture change of the legs, the complex process of dynamic walking for biped robot is divided by four sequence phases. The multi-mode control law and the group of sensory-motor schema are designed based on the analysis of quality-quantity combination to the phase plane. Simulation results show that the proposed control strategy is effective to ensure continuous dynamic walking of biped robot and the control method is simple and easy to be realized.
