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	Walking gait compensation algorithm for humanoid robots based on universal force-moment sensors and joint torques
	Xu Kai ; Chen Ken ; Liu Li ; Yang Dong-Chao
	2010-05-10 ; 2010-05-10
关键词	Theoretical or Mathematical/ force sensors humanoid robots legged locomotion motion compensation robot kinematics stability/ walking gait compensation humanoid robots universal force-moment sensors joint torques walking stability robot feet overload capacity DC servomotor heavy load disturbance/ C3390C Mobile robots C1320 Stability in control theory E1550A Robotics E2200 Mechanical components, systems and devices
中文摘要	In order to realize stable walking of humanoid robot, this paper puts forward a gait compensation algorithm, which compensates the joint torques according to information from the universal force-moment sensors in robot feet. This algorithm utilizes the overload capacity of the DC servo motor to improve dynamic performance of the robot joints under heavy load disturbances. Walking experiments prove the effectiveness of this algorithm under an off-line implementation.
语种	中文 ; 中文
出版者	Chinese Assoc. of Automation ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25024]
专题	清华大学
推荐引用方式 GB/T 7714	Xu Kai,Chen Ken,Liu Li,et al. Walking gait compensation algorithm for humanoid robots based on universal force-moment sensors and joint torques[J],2010, 2010.
APA	Xu Kai,Chen Ken,Liu Li,&Yang Dong-Chao.(2010).Walking gait compensation algorithm for humanoid robots based on universal force-moment sensors and joint torques..
MLA	Xu Kai,et al."Walking gait compensation algorithm for humanoid robots based on universal force-moment sensors and joint torques".(2010).

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