TY - GEN
T1 - A novel fuzzy omni-directional gait planning algorithm for biped robot
AU - Shi, Haobin
AU - Li, Xuesi
AU - Liang, Weihao
AU - Dang, Ming'Ai
AU - Chen, Huahui
AU - Wang, Shixiong
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/18
Y1 - 2016/7/18
N2 - Aiming at the problems in gait planning of the biped robots, including the complex model, low stability, etc., a novel fuzzy omni-directional gait planning algorithm (FOGPA) is proposed. At first, this method puts forward a new separated omni-directional gait planning model, which combines the straight walking planning algorithm based on the improved Hermite interpolation and the rotation motion together. And then, a fuzzy gait parameter adjustment algorithm is put forward to control the gait parameters including the step size and rotation speed dynamically. At last, the fuzzy control results are used to get the gait data of robot real-timely. The experiment results show that the FOGPA improves the stability and robustness of gait in a certain degree and also improves the adaptability to the complex environment of the robot.
AB - Aiming at the problems in gait planning of the biped robots, including the complex model, low stability, etc., a novel fuzzy omni-directional gait planning algorithm (FOGPA) is proposed. At first, this method puts forward a new separated omni-directional gait planning model, which combines the straight walking planning algorithm based on the improved Hermite interpolation and the rotation motion together. And then, a fuzzy gait parameter adjustment algorithm is put forward to control the gait parameters including the step size and rotation speed dynamically. At last, the fuzzy control results are used to get the gait data of robot real-timely. The experiment results show that the FOGPA improves the stability and robustness of gait in a certain degree and also improves the adaptability to the complex environment of the robot.
KW - Biped Robot
KW - Cubic Spline Interpolation
KW - Fuzzy Control
KW - Gait Planning
KW - Omni-directional Gait
UR - http://www.scopus.com/inward/record.url?scp=84983350407&partnerID=8YFLogxK
U2 - 10.1109/SNPD.2016.7515880
DO - 10.1109/SNPD.2016.7515880
M3 - 会议稿件
AN - SCOPUS:84983350407
T3 - 2016 IEEE/ACIS 17th International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing, SNPD 2016
SP - 71
EP - 76
BT - 2016 IEEE/ACIS 17th International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing, SNPD 2016
A2 - Chen, Yihai
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE/ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing, SNPD 2016
Y2 - 30 May 2016 through 1 June 2016
ER -