Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper

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	Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper
	Li ZH(李志海); Wu ZW(吴镇炜); Zhao YW(赵忆文)
	2014
会议名称	IEEE International Conference on Information and Automation (ICIA 2014)
会议日期	July 28-30, 2014
会议地点	Hailar, China
页码	740-745
中文摘要	For stable landing motion control of biped robot, a new method using switching control is proposed. The biped robot is with Magenetorhelogical damper based soft driving package. Vibration often occurs in the landing phase of swing foot or unexpected contacting arising abruptly. The residual vibration arising from ground reaction force decreases the safety of biped walking. Firstly, walking gait of the biped robot is analyzed. Then Magenetorhelogical damper is introduced into joint structure to realize vibration suppression by physical mean. And a damping control method for vibration suppression is described. Control structure of joint with elasticity and MR damper is discussed. The strategy could provide reliable suppression effectiveness. Then the switching control method is established by position controller, damping controller and switching terms. Finally, a simulation is implemented to verify the effectiveness of the proposed landing control method.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceeding of the IEEE International Conference on Information and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-4100-1
WOS记录号	WOS:000363815200135
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/15400]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li ZH,Wu ZW,Zhao YW. Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper[C]. 见:IEEE International Conference on Information and Automation (ICIA 2014). Hailar, China. July 28-30, 2014.