QQ客服 官方微博 反馈留言

	Torque-stiffness-controlled dynamic walking with central pattern generators
	Huang, Yan ; Vanderborght, Bram ; Van Ham, Ronald ; Wang, Qining
	2014
关键词	Adaptable joint stiffness Passive dynamic walking Controlled passive walking Central pattern generators Velocity control Walking pattern transitions ANKLE JOINT DYNAMICS POSITION DEPENDENCE BIPEDAL WALKING OLDER-ADULTS UPPER-BODY LOCOMOTION ROBOT ENERGY ACTUATORS DESIGN
DOI	10.1007/s00422-014-0625-3
英文摘要	Walking behavior is modulated by controlling joint torques in most existing passivity-based bipeds. Controlled Passive Walking with adaptable stiffness exhibits controllable natural motions and energy efficient gaits. In this paper, we propose torque-stiffness-controlled dynamic bipedal walking, which extends the concept of Controlled Passive Walking by introducing structured control parameters and a bio-inspired control method with central pattern generators. The proposed walking paradigm is beneficial in clarifying the respective effects of the external actuation and the internal natural dynamics. We present a seven-link biped model to validate the presented walking. Effects of joint torque and joint stiffness on gait selection, walking performance and walking pattern transitions are studied in simulations. The work in this paper develops a new solution of motion control of bipedal robots with adaptable stiffness and provides insights of efficient and sophisticated walking gaits of humans.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000345842700006&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Computer Science, Cybernetics; Neurosciences; SCI(E); EI; PubMed; 3; ARTICLE; qiningwang@pku.edu.cn; 6; 803-823; 108
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/153834]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Vanderborght, Bram,Van Ham, Ronald,et al. Torque-stiffness-controlled dynamic walking with central pattern generators[J],2014.
APA	Huang, Yan,Vanderborght, Bram,Van Ham, Ronald,&Wang, Qining.(2014).Torque-stiffness-controlled dynamic walking with central pattern generators..
MLA	Huang, Yan,et al."Torque-stiffness-controlled dynamic walking with central pattern generators".(2014).

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。