An integrated control for a biped walking robot

Detalhes bibliográficos
Autor(a) principal: Gonçalves,João B.
Data de Publicação: 2006
Outros Autores: Zampieri,Douglas Eduardo
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000400010
Resumo: The main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing a neural network, which updates online the conditions of trajectory for the trunk, from the evolution of the gait, with the objective to reduce the magnitude of the resultant force and moment. We consider that this scheme is a new and interesting approach to generate online the trajectory for the trunk, giving so reflexes for the biped-walking robot.
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spelling An integrated control for a biped walking robotBiped-walking robotdynamic gaitcenter of pressurezero moment pointThe main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing a neural network, which updates online the conditions of trajectory for the trunk, from the evolution of the gait, with the objective to reduce the magnitude of the resultant force and moment. We consider that this scheme is a new and interesting approach to generate online the trajectory for the trunk, giving so reflexes for the biped-walking robot.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2006-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000400010Journal of the Brazilian Society of Mechanical Sciences and Engineering v.28 n.4 2006reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782006000400010info:eu-repo/semantics/openAccessGonçalves,João B.Zampieri,Douglas Eduardoeng2007-10-08T00:00:00Zoai:scielo:S1678-58782006000400010Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2007-10-08T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv An integrated control for a biped walking robot
title An integrated control for a biped walking robot
spellingShingle An integrated control for a biped walking robot
Gonçalves,João B.
Biped-walking robot
dynamic gait
center of pressure
zero moment point
title_short An integrated control for a biped walking robot
title_full An integrated control for a biped walking robot
title_fullStr An integrated control for a biped walking robot
title_full_unstemmed An integrated control for a biped walking robot
title_sort An integrated control for a biped walking robot
author Gonçalves,João B.
author_facet Gonçalves,João B.
Zampieri,Douglas Eduardo
author_role author
author2 Zampieri,Douglas Eduardo
author2_role author
dc.contributor.author.fl_str_mv Gonçalves,João B.
Zampieri,Douglas Eduardo
dc.subject.por.fl_str_mv Biped-walking robot
dynamic gait
center of pressure
zero moment point
topic Biped-walking robot
dynamic gait
center of pressure
zero moment point
description The main objective of this work is to present and discuss some results of an integrated control system for a biped robot machine in the dynamic gait. We divided the integrated control system in two sub-systems: a control of the trajectories for the legs and the Automatic Generator of Trajectory. We designed the Automatic Generator of Trajectory by employing a neural network, which updates online the conditions of trajectory for the trunk, from the evolution of the gait, with the objective to reduce the magnitude of the resultant force and moment. We consider that this scheme is a new and interesting approach to generate online the trajectory for the trunk, giving so reflexes for the biped-walking robot.
publishDate 2006
dc.date.none.fl_str_mv 2006-12-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000400010
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782006000400010
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782006000400010
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.28 n.4 2006
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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