經(jīng)由耦合振蕩模型正弦模式的調(diào)變產(chǎn)生一個(gè)對(duì)人形機(jī)器人(編輯修改稿)
2025-02-14 19:38 本頁(yè)面
【文章內(nèi)容簡(jiǎn)介】 t need careful design of desired gait trajectories。 4) use smaller numbers of parameters than that used in the existing neural oscillator approach, and pare to the neural oscillator model, parameters used in our approach can be easily selected since the physical meanings of the parameters are quite simple. attempt to apply an oscillator model to a humansized humanoid robot putational brain (CB) for biped walking in a real environment. humansized hydraulic humanoid robot CB developed by SARCOS [20] of height, m and total weight, 95 kg. apply method to a small humanoid robot [Fig. 1(b)] (b) Small humanoid robot used in the experiment. apply proposed approach to the simulated robot model [ Fig. 1(c)], and also show experimental results. (c) Simple 3D biped simulation model. The biped model has ten DOF, height, m and total weight, 95 kg. II. MODULATION OF SINUSOIDAL PATTERNS BY A COUPLED OSCILLATOR MODEL A. Coupled Oscillator Model B. Phase Detection from the Robot Dynamics C. Simplified COP Detection D. Phase Coordination E. Stepping Controller for Lateral Movement F. Biped Walking Controller with Additional Sinusoids III. SIMULATION AND EXPERIMENTAL RESULT A. Stepping Movement 1) Application To the Simulated Biped Model: 2) Application to HumanSized Humanoid Robot: 3) Application to the Small Humanoid Robot: B. Bip
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