@inproceedings{a6f1e620ac6741a28104583ec5cb5cd9,
title = "Agile Running Control for Bipedal Robot Based on 3D-SLIP Model Regulation in Task-Space",
abstract = "To achieve agile running of a biped robot, dynamic stability, joint coordination, and real-time ability are required. In this paper, a task-space-based controller framework is constructed with a reduced-order 3D-SLIP model. On the top layer, a 3D-SLIP model based planner is employed for center-of-mass trajectory planning. The planner built with optimization for table divided apex state, and a neural network is used to fit the optimized table for real-time planning. On the bottom layer, a task-space-based controller with full-body dynamics is utilized, which solves the quadratic programming for the optimized joint torque in real-time. A 12-DOF biped robot model with a point-foot is used for simulation verification. The simulation result show that stable running and single-cycle apex state change running can achieved with the framework.",
keywords = "3D-SLIP model, Biped robot, Dynamic running, Motion control",
author = "Shengjun Wang and Zehuan Li and Haibo Gao and Kaizheng Shan and Jun Li and Haitao Yu",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",
year = "2022",
doi = "10.1007/978-3-031-13844-7\_48",
language = "英语",
isbn = "9783031138430",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "505--516",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "德国",
}