Gait Control of Biped Mobile Robot Based on Attitude Information
In robot motion control,attitude information acquisition is an indispensable step,especially in robot gait control over obstacles.Therefore,a gait control method for biped mobile robot over obstacles based on attitude information is proposed.Under the two situations of legs swinging and ground collision,the dynamic model of biped mobile robot is created,and the walking change law of robot is obtained.The AdaBoost algorithm is used to classify the robot's attitude attributes,and the robot's attitude information perception is realized through the association index and bone densityto clarify the operator's intention to surmount obstacles.The camera is used to get the obstacle image data,and the feedforward compensation capability of neural network is used to control the robot's gait over obstacles.The experimental results show that the proposed gait control method has high accuracy and can improve the mobility of biped mobile robots.
attitude informationbiped robotgait control for obstacle crossingdynamic modelneural network
国家科技期刊平台
NSTL
万方数据
