Torque-Stiffness-Controlled Dynamic Walking Analysis of the Behaviors of   Bipeds with Both Adaptable Joint Torque and Joint Stiffness

doi:10.1109/MRA.2015.2510753

CORC > 北京大学 > 工学院

	Torque-Stiffness-Controlled Dynamic Walking Analysis of the Behaviors of Bipeds with Both Adaptable Joint Torque and Joint Stiffness
	Huang, Yan ; Wang, Qining
刊名	IEEE ROBOTICS & AUTOMATION MAGAZINE
	2016
关键词	CENTRAL PATTERN GENERATORS ENERGY-CONSUMPTION LOCOMOTION ROBOTS ACTUATORS MODEL WALKERS DESIGN DRIVEN
DOI	10.1109/MRA.2015.2510753
英文摘要	This article presents a general paradigm, torque-stiffness-controlled dynamic walking, to analyze the behaviors of bipeds with both adaptable joint torque and joint stiffness. A bioinspired control method with central pattern generators (CPGs) is applied to realize limb coordination and smooth walking pattern transitions. To better illustrate the proposed paradigm, we show the respective effects of joint torque and joint stiffness on walking performance and motion control in both a four-link simulated model and a robot prototype. This study may develop a new solution for the motion control of bipedal robots with adaptable joint stiffness and provide insights into the principles of efficient and adaptive human walking. ? 1994-2011 IEEE.; National Natural Science Foundation of China [61005082]; Beijing Nova Program [Z141101001814001]; Beijing Municipal Science and Technology Project [Z151100003715001, Z151100000915073]; 985 Project of Peking University [3J0865600]; SCI(E); EI; ARTICLE; yanhuang@pku.edu.cn; qiningwang@pku.edu.cn; 1; 71-82; 23
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/437620]
专题	工学院
推荐引用方式 GB/T 7714	Huang, Yan,Wang, Qining. Torque-Stiffness-Controlled Dynamic Walking Analysis of the Behaviors of Bipeds with Both Adaptable Joint Torque and Joint Stiffness[J]. IEEE ROBOTICS & AUTOMATION MAGAZINE,2016.
APA	Huang, Yan,&Wang, Qining.(2016).Torque-Stiffness-Controlled Dynamic Walking Analysis of the Behaviors of Bipeds with Both Adaptable Joint Torque and Joint Stiffness.IEEE ROBOTICS & AUTOMATION MAGAZINE.
MLA	Huang, Yan,et al."Torque-Stiffness-Controlled Dynamic Walking Analysis of the Behaviors of Bipeds with Both Adaptable Joint Torque and Joint Stiffness".IEEE ROBOTICS & AUTOMATION MAGAZINE (2016).