КФУ. Карточка публикации. Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment

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BIPEDAL ROBOT LOCOMOTION MODELLING WITH VIRTUAL HEIGHT INVERTED PENDULUM AND PREVIEW CONTROL APPROACHES IN SIMULINK ENVIRONMENT

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2016

Язык

английский

Авторы, сотрудники КФУ

Афанасьев Илья Михайлович, автор

Магид Евгений Аркадьевич, автор

Сабирова Лейсан Наилевна, автор

Библиографическое описание на языке оригинала

Khusainov R. Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment / Afanasyev I., Sabirova L., Magid E. // Journal of Robotics, Networking and Artificial Life. - 2016. - Vol. 3 (3). - p. 182-187.

Аннотация

Control algorithms development for humanoid locomotion is difficult due to humanoid's high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and preview control approaches. A step length and period influence on walking stability were investigated and simulated within Simulink environment. Achievable in simulation maximal torques in leg joints and corresponding trajectories were verified against attainable robot motors' values.

Ключевые слова

Biped robot, dynamic stability, Simulink, AR-601M robot

Название журнала

Journal of Robotics, Networking and Artificial Life

URL

https://www.atlantis-press.com/journals/jrnal/25866296

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https://repository.kpfu.ru/?p_id=257550

Файлы ресурса

Название файла	Размер (Мб)	Формат
F_2016_Bipedal_robot_locomotion_modelling_with_virtual_height_inverted_pendulum_and_preview_control_approaches.pdf	0,93	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Афанасьев Илья Михайлович	ru_RU
dc.contributor.author	Магид Евгений Аркадьевич	ru_RU
dc.contributor.author	Сабирова Лейсан Наилевна	ru_RU
dc.date.accessioned	2016-01-01T00:00:00Z	ru_RU
dc.date.available	2016-01-01T00:00:00Z	ru_RU
dc.date.issued	2016	ru_RU
dc.identifier.citation	Khusainov R. Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment / Afanasyev I., Sabirova L., Magid E. // Journal of Robotics, Networking and Artificial Life. - 2016. - Vol. 3 (3). - p. 182-187.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=257550	ru_RU
dc.description.abstract	Journal of Robotics, Networking and Artificial Life	ru_RU
dc.description.abstract	Control algorithms development for humanoid locomotion is difficult due to humanoid's high number of Degrees of Freedom and system nonlinearity. Moreover, a humanoid may lose balance as its walking speed changes. We present AR-601M humanoid locomotion modelling with virtual height inverted pendulum and preview control approaches. A step length and period influence on walking stability were investigated and simulated within Simulink environment. Achievable in simulation maximal torques in leg joints and corresponding trajectories were verified against attainable robot motors' values.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Biped robot	ru_RU
dc.subject	dynamic stability	ru_RU
dc.subject	Simulink	ru_RU
dc.subject	AR-601M robot	ru_RU
dc.title	Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU