期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
期号：5
页码：227
DOI：10.5772/56391
语种：English
出版社：SAGE Publications
摘要：Abstract In order to reduce the impact force of swing legs and improve walking stability when a small humanoid robot is walking, a set of impact dynamics equations based on the second kind Lagrange equation is produced, and an impact compensation control strategy with a BP network optimized by a particle swarm algorithm is designed. The core element of the compensation controller is replacing the error back propagation with a particle swarm algorithm. Due to the regulating joints of the knee, hip and ankle, the walking process is more stable than before. The experiment results show that when the left swing leg lands, the impact force drops by 2N and 1.5N respectively in the moments 4.5s and 10.5s. Therefore, the compensation strategy can reduce the impact force effectively and improve the walking stability.
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