The present disclosure provides a method for realizing a dynamic running gait of a biped robot on a rough terrain road, which sets a state machine for an entire running cycle to perform a balance control and movement trajectory planning of the robot in each state. At the time that the robot switches from the in-air phase into a landing phase, a SLIP model is used to control the posture balance and landing cushion; and when the robot is stable after landing, an LIP model is used to control a center of mass of the robot to a set height. An in-air phase of the robot in running is generated through movement trajectory planning and state switching of a supporting leg and a swinging leg to realize a running of the robot.


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    Titel :

    METHOD FOR REALIZING DYNAMIC RUNNING GAIT OF BIPED ROBOT ON ROUGH TERRAIN ROAD


    Beteiligte:
    ZHU QIUGUO (Autor:in) / MA ZUNWANG (Autor:in) / PENG BO (Autor:in) / WU JUN (Autor:in) / XIONG RONG (Autor:in)

    Erscheinungsdatum :

    2021-08-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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