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標題: 具被動步行特性雙足機器人之混合系統建模與主動式步態控制
Hybrid-System Modeling and Active Gait Generation Control for a Passive Dynamic Walking Biped Robot
作者: 陳碩彥
Chen, Shuo-Yen
關鍵字: Passive;被動式;Biped Robots;Hybrid-System Modeling;Virtual Gravity;Neural-Adapt Control;雙足步行機械;混合動力系統模式;虛擬重力;類神經適應控制器
出版社: 機械工程學系所
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上述仿被動式方法,需依靠試誤法及多次模擬經驗,來選擇適當的初始值與系統參數,始可達成具被動式動態行走的功能。為了使雙足機器人擁有較複雜的步行能力,因此再根據混合動力系統模式,選擇適當的Lyapunov候選函數,提出一穩定類神經適應控制器,其中包含一輻射基底類神經網路以補償模式不確定性,其參數調適律含一 修正項,經由電腦模擬,可以驗證所提控制策略的有效性。
其他識別: U0005-2607200616200400
Appears in Collections:機械工程學系所

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