{"title":"基于足底压力的全下肢外骨骼机器人稳定性恢复控制策略","authors":"Zhaoqin Peng, Shuqi Jiang, Jiayue Li","doi":"10.1109/ICIEA.2017.8283025","DOIUrl":null,"url":null,"abstract":"This paper builds a dynamic and visualized simulation platform with SolidWorks, ADAMS and Matlab, integrated with the achievements our research group obtained before. Based on current researches of stability control strategies and dynamic simulation for humanoid robot and power assisted robot, this study divides the fall process into four stages and proposes stability recovery strategy during different stages, then validates effectiveness through joint simulation platform. The results indicate that the strategies can effectively deal with push from various directions.","PeriodicalId":443463,"journal":{"name":"2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA)","volume":"7 6","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Control strategies for stability recovery of full lower limb exoskeleton robot based on plantar pressure\",\"authors\":\"Zhaoqin Peng, Shuqi Jiang, Jiayue Li\",\"doi\":\"10.1109/ICIEA.2017.8283025\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper builds a dynamic and visualized simulation platform with SolidWorks, ADAMS and Matlab, integrated with the achievements our research group obtained before. Based on current researches of stability control strategies and dynamic simulation for humanoid robot and power assisted robot, this study divides the fall process into four stages and proposes stability recovery strategy during different stages, then validates effectiveness through joint simulation platform. The results indicate that the strategies can effectively deal with push from various directions.\",\"PeriodicalId\":443463,\"journal\":{\"name\":\"2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA)\",\"volume\":\"7 6\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIEA.2017.8283025\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIEA.2017.8283025","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control strategies for stability recovery of full lower limb exoskeleton robot based on plantar pressure
This paper builds a dynamic and visualized simulation platform with SolidWorks, ADAMS and Matlab, integrated with the achievements our research group obtained before. Based on current researches of stability control strategies and dynamic simulation for humanoid robot and power assisted robot, this study divides the fall process into four stages and proposes stability recovery strategy during different stages, then validates effectiveness through joint simulation platform. The results indicate that the strategies can effectively deal with push from various directions.
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