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دسته بندی:
رباتیک - robotic
سال انتشار:
2017
عنوان انگلیسی مقاله:
Overview of Gait Synthesis for the Humanoid COMAN
ترجمه فارسی عنوان مقاله:
خلاصه ای از سنتز گیت برای ربات های انسان نما COMAN
منبع:
Sciencedirect - Elsevier - Journal of Bionic Engineering, 14 (2017) 15-25. doi:10.1016/S1672-6529(16)60373-6
نویسنده:
Chengxu Zhou, Xin Wang1, Zhibin Li1, Nikos Tsagarakis
چکیده انگلیسی:
This paper focuses on the developments of a generic gait synthesis for the humanoid robot COMAN. Relying on the es- sential Gait Pattern Generator (GPG), the proposed synthesis offers enhanced versatilities for the locomotion under different purposes, and also provides the data storage and communication mechanisms among different modules. As an outcome, we are able to augment new abilities for COMAN by integrating new control modules and software tools at a cost of very few modi- fications. Moreover, foot placement optimization is introduced to the GPG to optimize the gait parameter references in order to meet the robot’s natural dynamics and kinematics, which enhances the synthesis’s robustness while it’s being implemented on real robots. We have also presented a practical approach to generate pelvis motion from CoM references using a simplified three-point-mass model, as well as a straightforward but effective idea for the state estimation using the sensory feedback. Three physical experiments were studied in an increasing complexity to demonstrate the effectiveness and successful implementation of the proposed gait synthesis on a real humanoid system.
Keywords: humanoid robots | bipedal locomotion | gait synthesis | dynamic walking
قیمت: رایگان
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