Walking Stability Compensation Strategy of a Small Humanoid Robot Based on the Error of Swing Foot Height and Impact Force
2013 (English)In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 10, 227- p.Article in journal (Refereed) Published
In order to reduce the impact force of swing legs and improve walking stability when a small humanoid robot is walking, a set of impact dynamics equations based on the second kind Lagrange equation is produced, and an impact compensation control strategy with a BP network optimized by a particle swarm algorithm is designed. The core element of the compensation controller is replacing the error back propagation with a particle swarm algorithm. Due to the regulating joints of the knee, hip and ankle, the walking process is more stable than before. The experiment results show that when the left swing leg lands, the impact force drops by 2N and 1.5N respectively in the moments 4.5s and 10.5s. Therefore, the compensation strategy can reduce the impact force effectively and improve the walking stability.
Place, publisher, year, edition, pages
2013. Vol. 10, 227- p.
Humanoid Robot, BP network, Particle Swarm Optimization, Compensating Controller, Impact Dynamics
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-123416DOI: 10.5772/56391ISI: 000318474500003ScopusID: 2-s2.0-84879215275OAI: oai:DiVA.org:kth-123416DiVA: diva2:626620
QC 201306102013-06-102013-06-102013-06-10Bibliographically approved