Study and simulation of control method based biped robot walking on water

In this paper the control method about biped robot walking on water is mainly developed. As the complexity of the water environment, biped robot walking on water encounter many difficulties when walking such as external environment modeling, gait planning, water interference and so on. The tradition...

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Bibliographic Details
Published inProceedings of the 31st Chinese Control Conference pp. 4900 - 4903
Main Authors Xianming Wei, Linsen Xu, Jianghai Zhao, Kai Cao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2012
Subjects
Biped robot
co-simulation
CPG (Central Pattern Generator) neural network
CPG-fuzzy control
Foot
Fuzzy control
Legged locomotion
Mathematical model
Oscillators
Robot kinematics
walking on water
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Summary:In this paper the control method about biped robot walking on water is mainly developed. As the complexity of the water environment, biped robot walking on water encounter many difficulties when walking such as external environment modeling, gait planning, water interference and so on. The traditional model-based exact kinematic solution method is not applied. This article studies control algorithm that combine CPG neural networks and fuzzy control. The control algorithm is used for robot process control. The nonlinear model of the robot is got from electro-mechanical system co-simulation. In order to verify the validity of the algorithm, biped robot control system is established. Simulation results show that the algorithm can meet the control requirements of walking biped robot biped robot walking on water.
ISBN:1467325813
9781467325813
ISSN:1934-1768
2161-2927