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Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances
  • ISSN号:0567-7718
  • 期刊名称:《力学学报:英文版》
  • 时间:0
  • 分类:TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置] TP273.2[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构:[1]The State Key Laboratory of Fluid PowerTransmission and Control,Department of Mechanical Engineering,Zbejiang University, 310027 Hangzhou, China
  • 相关基金:supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China(51221004); the National Natural Science Foundation of China(11172260,11372270,and 51375434); the Higher School Specialized Research Fund for the Doctoral Program(20110101110016); the Science and technology project of Zhejiang Province(2013C31086); the Fundamental Research Funds forthe Central Universities of China(2013XZZX005)
中文摘要:

在两足动物走期间,检测并且由反馈控制调整机器人姿势在从一些不可避免的不明确的因素产生的多来源随机骚乱中维持它的正常状态是批评的。激进的基础函数( RBF )一个五连接的两足动物机器人的神经网络模型被建立,并且二某些骚乱和随机不明确的骚乱然后在网络模型与最佳的转矩被混合由几个评估索引和特定的 Poincar 学习两足动物机器人的性能?????禮?(

英文摘要:

During bipedal walking,it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors.The radical basis function(RBF)neural network model of a five-link biped robot is established,and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincar′e map.In contrast with the simulations,the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving.Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints,the response errors of the biped will be increasing with higher disturbance levels,and especially there are larger output fluctuations in the knee and hip joints of the swing leg.

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期刊信息
  • 《力学学报:英文版》
  • 中国科技核心期刊
  • 主管单位:中国科学技术协会
  • 主办单位:中国力学学会 中国科学院力学研究所
  • 主编:卢天健
  • 地址:北京市海淀区北四环西路15号
  • 邮编:100190
  • 邮箱:actams@cstam.org.cn
  • 电话:010-62536271
  • 国际标准刊号:ISSN:0567-7718
  • 国内统一刊号:ISSN:11-2063/O3
  • 邮发代号:2-703
  • 获奖情况:
  • 国内外数据库收录:
  • 被引量:352