Abstract
Compared to the rigid actuator robot, the flexible actuator robot can absorb some external shock and lead to stable biped walking. A 10 D. O. Fs (Degrees of Freedom) humanoid biped walking robot with the type of FDUBR-I is designed and developed. The flexible drive unit FDU-II drives the pitch D. O. F of the hip joint for FDUBR-I. The FDUBR-I control system including hardware and software is built, which makes the host computer on-line control the joints of FDUBR-I. The switched Ethernet including PC and two motion control cards are set up for real-time communication. The control system includes two control subsystems of tension feedback and joint closed-loop control for FDU-II. The FDUBR-I walking experiment has been finished to verify the application of the FDU-II and the effect of the viscoelasticity dynamic model feedback based joint closed-loop controller and the tension feedback controller. The robot can reach the speed of 0.1 km/h during the steady biped walking.
| Original language | English |
|---|---|
| Pages (from-to) | 26-32 |
| Number of pages | 7 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 47 |
| Issue number | 1 |
| DOIs | |
| State | Published - 30 Jan 2015 |
| Externally published | Yes |
Keywords
- Biped walking experiment
- Flexible drive unit
- Humanoid biped robot
- Joint closed-loop
- Tension feedback
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