Abstract
Biped Robot with Heterogeneous Legs (BRHL) is a novel robot model, which consists of an artificial leg and an intelligent bionic leg. The artificial leg is used to simulate the amputee’s healthy leg and the intelligent bionic leg works as the intelligent artificial limb. This paper discusses how a BRHL robot imitates a person’s walking from the points of gait identification, gait generation and gait control. Simulative and practical system experiments prove the validity of the presented plan and proposed algorithm. This robot’s design provides an excellent platform for the research of intelligent prosthetic leg.
This work is supported by Chinese National Programs for High Technology Research and Development.2005AA420230.
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Xiao, J., Song, X., Su, J., Xu, X. (2010). Gait Planning Research for Biped Robot with Heterogeneous Legs. In: Zhang, BT., Orgun, M.A. (eds) PRICAI 2010: Trends in Artificial Intelligence. PRICAI 2010. Lecture Notes in Computer Science(), vol 6230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15246-7_71
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DOI: https://doi.org/10.1007/978-3-642-15246-7_71
Publisher Name: Springer, Berlin, Heidelberg
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