http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Hooman Homayouni (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Hooman Homayouni,Fariba Bahrami,Caro Lucas 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
Inspired by human locomotion system, we have proposed a gait controller for planar walking of a biped robot. On the basis of biomechanical and neurophysiologic studies of human gait, a two-layer controller is proposed. Lower layer of the controller consists of models of three neural mechanisms identified in the spinal cord: cutaneous reflex, stretch reflex, and central pattern generator (CPG). Upper layer controller maintains stability of the robot by employing fuzzy rule-based approach in applying two main strategies derived from biomechanical studies of human locomotion, that is ankle torque control and foot placement adjustment. Proposed controller does not require precise model of the mechanical system of the robot. Simulation results prove the capability of the proposed controller to generate a stable planar biped gait for the model robot. Stable limit-cycle for kinematic variables emerges from interaction of mechanical system with low-level mechanisms and high-level fuzzy controller. In facing disturbances, in form of a push from both front and behind, robot shows great ability to maintain its balance. This balance control is provided by the upper layer rule-based controller.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
