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Input torque sensitivity to uncertain parameters in biped robot 被引量:4

Input torque sensitivity to uncertain parameters in biped robot
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摘要 Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters. Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.
出处 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2013年第3期452-461,共10页 力学学报(英文版)
基金 supported by the National Natural Science Foundation of China (11142013, 11172260 and 11072214) the Doctoral Fund of Ministry of Education of China (20110101110016) the Fundamental Research Funds for the Central Universities of China(2011QNA4001)
关键词 Biped robot · Uncertain parameter · Trajectory planning · Input torque · Sensitivity Biped robot · Uncertain parameter · Trajectory planning · Input torque · Sensitivity
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