KFU. Card publication. Bipedal robot locomotion modelling with virtual height inverted pendulum and preview control approaches in Simulink environment

- RUS
- 中文
- ES

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

Form of presentation

Articles in international journals and collections

Year of publication

2016

��

��

Authors, employees of KFU

Afanasev Ilya Mikhaylovich, author

Magid Evgeniy Arkadevich, author

Sabirova Leysan Nailevna, author

Bibliographic description in the original language

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.

Annotation

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.

Keywords

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

The name of the journal

Journal of Robotics, Networking and Artificial Life

URL

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

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257550&p_lang=2

Resource files

File name	Size (MB)	Format
F_2016_Bipedal_robot_locomotion_modelling_with_virtual_height_inverted_pendulum_and_preview_control_approaches.pdf	0,93	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Afanasev Ilya Mikhaylovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sabirova Leysan Nailevna	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/eng/?p_id=257550&p_lang=2	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	Articles in international journals and collections	ru_RU