Human simulated intelligent control for dynamic walking of biped robot
Article
Figures
Metrics
Preview PDF
Reference
Related
Cited by
Materials
Abstract:
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.
