TY - GEN
T1 - Design and simulation of a hydraulic biped robot
AU - Chen, Guangrong
AU - Wang, Junzheng
AU - Wang, Lipeng
AU - He, Yudong
PY - 2013/10/18
Y1 - 2013/10/18
N2 - Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.
AB - Hydraulic biped robots have better mobility than conventional wheeled robots, and hydraulic actuator has some incomparable advantages, such as large torque and strong load capacity. In this paper, the biped structure of robot actuated by hydraulic system is designed to make it simulate human's action better. Meanwhile, for actuating the bipedal locomotion, the design and performance test of electro-hydraulic position servo system based on micro valve-controlled cylinder has been done. Then, the biped robot module can be taken as an inverted pendulum mathematical model to achieve all the gait planning, including starting gait, normal walking gait and stopping gait. Also, the stability of the gait and the feasibility of the gait planning are evaluated through ZMP principle. Finally, the virtual prototype model of biped robot is created to simulate the biped structure of robot and the planning gait, and the stability of walking and the effectiveness of the way of gait planning are verified very well.
KW - Biped robot
KW - Gait planning
KW - Stability analysis
KW - Virtual prototype simulation
KW - electro-hydraulic servo system
UR - http://www.scopus.com/inward/record.url?scp=84890534623&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84890534623
SN - 9789881563835
T3 - Chinese Control Conference, CCC
SP - 4244
EP - 4249
BT - Proceedings of the 32nd Chinese Control Conference, CCC 2013
PB - IEEE Computer Society
T2 - 32nd Chinese Control Conference, CCC 2013
Y2 - 26 July 2013 through 28 July 2013
ER -