Tham khảo tài liệu 'human-robot interaction part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization 281 the foot to be transferred to a new location. In Fig. 6 the CPG outputs and the joint angle positions of the leg joints during 10 s are shown with dashed lines and solid lines respectively. Figure 7 depicts the phase plot and the limit cycle of joint angle vs. velocity at the unactuated joint q0 q_0 plane during 10 s . Also Fig. 8 depicts the limit cycles at the phase plots of the leg joints during 10 s . Fig. 6. The CPG outputs and the joint angle positionsof leg joints during 10 s . Fig. 7. The phase plot of joint angle vs. velocity at the unactuated joint q0 j_0 plane during 10 s . 282 Human-Robot Interaction Fig. 8. The phase plots of joint angle vs. velocity at the leg joints during 10 s . Control signals of the servo controllers during 10 s are depicted in Fig. 9. The validity of the reduced single support phase model and impact model can be seen by plotting the ground reaction forces as plotted in Fig. 10. ft -10- i-Í-1-i-Í-i-Í-Í-J. Ẽ1 01 23456789 10 10 0123456789 10 o 5 0123456789 10 0123456789 10 time s Fig. 9. The control signals of the servo controllers during 10 s . Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization 283 Fig. 10. The ground reaction forces at the leg ends during 10 s . For evaluating the robustness of the limit cycle of the closed loop system an external force as disturbance is applied to the body of the biped robot. We assume that the external force is applied at the center of mass of the torso and it can be given by Fd t Fd u t td u t td Atd where Fd is the disturbance amplitude td is the time when the disturbance is applied Atd is the duration of the pulse and u . is a unit step function. The stick figure of the robot for a pulse with amplitude Fd 25 N and with pulse duration equal to Atd s which is applied at td 3 s is shown in Fig. 11. This figure shows the robustness of the limit cycle due to .
