Learning of humanoid robot walk parameters based on FSR

Quan De Yuan; Bing Rong Hong; Yi Guan; Wen De Ke

Learning of humanoid robot walk parameters based on FSR

Quan De Yuan^*
, Bing Rong Hong
, Yi Guan
, Wen De Ke

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

Abstract

Due to mechanical backlash and plastic deformation in robot, there are some problems while creating stable walk. We implemented a way to compensate this phenomenon during the walk engine based on existed method. In this paper, the problem and tradition solution is introduced, and the inaccuracy of old method is analyzed, finally provide an improved method using least squares fit. The experiment result shows this method is effective.

Original language	English
Pages (from-to)	19-21
Number of pages	3
Journal	Journal of Harbin Institute of Technology (New Series)
Volume	17
Issue number	SUPPL. 2
State	Published - Jul 2010
Externally published	Yes

Keywords

Backlash
FSR
Least squares polynomial fit

Cite this

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title = "Learning of humanoid robot walk parameters based on FSR",

abstract = "Due to mechanical backlash and plastic deformation in robot, there are some problems while creating stable walk. We implemented a way to compensate this phenomenon during the walk engine based on existed method. In this paper, the problem and tradition solution is introduced, and the inaccuracy of old method is analyzed, finally provide an improved method using least squares fit. The experiment result shows this method is effective.",

keywords = "Backlash, FSR, Least squares polynomial fit",

author = "Yuan, \{Quan De\} and Hong, \{Bing Rong\} and Yi Guan and Ke, \{Wen De\}",

year = "2010",

month = jul,

language = "英语",

volume = "17",

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journal = "Journal of Harbin Institute of Technology (New Series)",

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TY - JOUR

T1 - Learning of humanoid robot walk parameters based on FSR

AU - Yuan, Quan De

AU - Hong, Bing Rong

AU - Guan, Yi

AU - Ke, Wen De

PY - 2010/7

Y1 - 2010/7

N2 - Due to mechanical backlash and plastic deformation in robot, there are some problems while creating stable walk. We implemented a way to compensate this phenomenon during the walk engine based on existed method. In this paper, the problem and tradition solution is introduced, and the inaccuracy of old method is analyzed, finally provide an improved method using least squares fit. The experiment result shows this method is effective.

AB - Due to mechanical backlash and plastic deformation in robot, there are some problems while creating stable walk. We implemented a way to compensate this phenomenon during the walk engine based on existed method. In this paper, the problem and tradition solution is introduced, and the inaccuracy of old method is analyzed, finally provide an improved method using least squares fit. The experiment result shows this method is effective.

KW - Backlash

KW - FSR

KW - Least squares polynomial fit

UR - https://www.scopus.com/pages/publications/78449250951

M3 - 文章

AN - SCOPUS:78449250951

SN - 1005-9113

VL - 17

SP - 19

EP - 21

JO - Journal of Harbin Institute of Technology (New Series)

JF - Journal of Harbin Institute of Technology (New Series)

IS - SUPPL. 2

ER -

Learning of humanoid robot walk parameters based on FSR

Abstract

Keywords

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