Biped Robot Control Using Cerebellar Model Articulation Controller

CHANG-CHIH, CHUNG and CHIH-HSUAN, CHEN and CHIH-MIN, CHIH-MIN (2014) Biped Robot Control Using Cerebellar Model Articulation Controller. In: Second International Conference on Advances in Computing, Electronics and Electrical Technology - CEET 2014, 20 - 21 December, 2014, Kuala Lumpur, Malaysia.

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Abstract

This paper presents the design of a biped robot using the Cerebellar Model Articulation Controller (CMAC). An inertial navigation system (INS) including gyroscopes and accelerometers is used to measure the robot’s attitude and acceleration for modifying the dynamic attitude of the robot. Moreover, a zero moment point (ZMP) compensator is used to on-line adjust the gait trajectories to improve the walking stability. Experimental results show that the developed system can achieve favorable control performance for the biped robot.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Biped robot, Cerebellar Model Articulation Controller (CMAC), Zero moment point (ZMP).
Depositing User: Mr. John Steve
Date Deposited: 26 Apr 2019 04:33
Last Modified: 26 Apr 2019 04:33
URI: http://publications.theired.org/id/eprint/1462

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