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《Automation & Information Engineering》 2019-01
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Real-Time Gait Control Algorithm Based on Pre-Planning

Ding Yu;Du Yuxiao;Huang Xiuping;Lu Guanxiong;Zeng Chunmiao;Wang Qiapeng;Niu Haoyang;School of Automation,Guangdong University of Technology;  
Bipedal robot can adapt to almost all complex terrain, and the stability of gait is the prerequisite for bipedal robot to adapt to terrain changes. In this paper, by combining the features of terrain and the position of the robot, the stable motion is calculated, that is, the pre-movement planning is completed before the robot walks. A series of steps, such as building kinematics model, designing posture and judging stability, are completed to complete the gait planning.
【CateGory Index】: TP242
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【Citations】
Chinese Journal Full-text Database 1 Hits
1 DOU Rui-jun,MA Pei-sun (Institute of Robotics, Shanghai Jiaotong University,Shanghai 200030);ZMP-based Gait Optimization of a Biped Robot[J];机械科学与技术;2003-01
【Co-citations】
Chinese Journal Full-text Database 9 Hits
1 ZHAO Ruilin;MENG Yanjing;WANG Conghui;College of Electrical Engineering,Shannxi Poletechnic Institute;School of Electrical and Information Engineering,Shannxi University of Science and Technology;;Research on teaching of biped walking robot walking stable gait planning method of straight line[J];工业仪表与自动化装置;2014-05
2 Zhao Ruilin;Li Wei;Wang Conghui;College of Electrical Engineering,Shaanxi Poletechnic Institute;;Biped Robot Stability Control Strategy and Algorithm Based on ZMP[J];河南科学;2014-07
3 XIE Hai-sheng;CHEN Dai-min;School of Mechatronical Engineering,Changchun University of Science and Technology;College of Machinery and Vehicle,Changchun University;;Gait Planning and Simulation of Wearable Lower Limbs Rehabilitation Exoskeleton Robot[J];长春大学学报;2013-10
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Chinese Journal Full-text Database 2 Hits
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