Document title: An integrated control for a biped walking robot
Journal: Journal of the Brazilian Society of Mechanical Sciences and Engineering
Database: PERIÓDICA
System number: 000312339
ISSN: 1678-5878
Authors: 1
2
Institutions: 1Universidade de Taubate, Departamento de Engenharia Eletrica, Taubate, Sao Paulo. Brasil
2Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica, Campinas, Sao Paulo. Brasil
Year:
Season: Oct-Dic
Volumen: 28
Number: 4
Pages: 453-460
Country: Brasil
Language: Inglés
Document type: Artículo
Approach: Experimental
English abstract 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
Disciplines: Ingeniería
Keyword: Ingeniería mecánica,
Robots,
Diseño
Keyword: Engineering,
Mechanical engineering,
Robots,
Design
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