Balance recovery control for biped robot based on reaction null space method
Baoping WANG
Renxi HU
Jinming ZHANG
Chuangfeng HUAI
摘要：A biped walking robot should be able to keep balance even in the presence of disturbing forces.This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method.The called "step strategy" can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots,or moving base robots in general.6-DOF biped robot model simulations are used to confirm the validity.
机标关键词：null spacebasedbiped robotbiped walking robotdynamic interactionstrategymoving basestep
资助基金：the National Natural Science Foundation of China(50675016)the Science and Technology Innovation Fund forthe Doctor(48030)
论文发表日期：2009-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：5( 87-91 )
英文信息