The control simulation of BRHL based on diagonal recurrent neural network

Hua Long Xie; Li Xin Guo; Ming Zhang

doi:10.1109/BMEI.2010.5639258

The control simulation of BRHL based on diagonal recurrent neural network

Hua Long Xie, Li Xin Guo, Ming Zhang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

1 Citation (Scopus)

Abstract

In order to provide an ideal test-bed for the research of intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper, a novel humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. First the conception and research purpose of BRHL are introduced. Then bionic design of BRHL is analyzed in detail. Coordinated dynamics model and MR damper model are given. In the end, diagonal recurrent neural network is discussed and control simulation is done. The result indicates that BRHL can simulate human's gait well and is an ideal test-bed of intelligent bionic leg.

Original language	English
Title of host publication	Proceedings - 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI 2010
Pages	1844-1848
Number of pages	5
Volume	5
DOIs	https://doi.org/10.1109/BMEI.2010.5639258
Publication status	Published - 1 Dec 2010
Event	3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010 - Yantai, China Duration: 16 Oct 2010 → 18 Oct 2010

Conference

Conference	3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010
Country/Territory	China
City	Yantai
Period	16/10/10 → 18/10/10

Keywords

Biped robot with heterogeneous legs
Diagonal recurrent neural network
Gait tracking
Intelligent bionic leg

ASJC Scopus subject areas

Biomedical Engineering
Health Informatics
Health Information Management

More information

10.1109/BMEI.2010.5639258

Cite this

@inproceedings{cf8e13a305de4b75b6388925bb9b2621,

title = "The control simulation of BRHL based on diagonal recurrent neural network",

abstract = "In order to provide an ideal test-bed for the research of intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper, a novel humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. First the conception and research purpose of BRHL are introduced. Then bionic design of BRHL is analyzed in detail. Coordinated dynamics model and MR damper model are given. In the end, diagonal recurrent neural network is discussed and control simulation is done. The result indicates that BRHL can simulate human's gait well and is an ideal test-bed of intelligent bionic leg.",

keywords = "Biped robot with heterogeneous legs, Diagonal recurrent neural network, Gait tracking, Intelligent bionic leg",

author = "Xie, {Hua Long} and Guo, {Li Xin} and Ming Zhang",

year = "2010",

month = dec,

day = "1",

doi = "10.1109/BMEI.2010.5639258",

language = "English",

isbn = "9781424464968",

volume = "5",

pages = "1844--1848",

booktitle = "Proceedings - 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI 2010",

note = "3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010 ; Conference date: 16-10-2010 Through 18-10-2010",

}

Xie, HL, Guo, LX & Zhang, M 2010, The control simulation of BRHL based on diagonal recurrent neural network. in Proceedings - 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI 2010. vol. 5, 5639258, pp. 1844-1848, 3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010, Yantai, China, 16/10/10. https://doi.org/10.1109/BMEI.2010.5639258

The control simulation of BRHL based on diagonal recurrent neural network. / Xie, Hua Long; Guo, Li Xin; Zhang, Ming.
Proceedings - 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI 2010. Vol. 5 2010. p. 1844-1848 5639258.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - The control simulation of BRHL based on diagonal recurrent neural network

AU - Xie, Hua Long

AU - Guo, Li Xin

AU - Zhang, Ming

PY - 2010/12/1

Y1 - 2010/12/1

N2 - In order to provide an ideal test-bed for the research of intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper, a novel humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. First the conception and research purpose of BRHL are introduced. Then bionic design of BRHL is analyzed in detail. Coordinated dynamics model and MR damper model are given. In the end, diagonal recurrent neural network is discussed and control simulation is done. The result indicates that BRHL can simulate human's gait well and is an ideal test-bed of intelligent bionic leg.

AB - In order to provide an ideal test-bed for the research of intelligent bionic leg (IBL) controlled by magneto-rheological (MR) damper, a novel humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. First the conception and research purpose of BRHL are introduced. Then bionic design of BRHL is analyzed in detail. Coordinated dynamics model and MR damper model are given. In the end, diagonal recurrent neural network is discussed and control simulation is done. The result indicates that BRHL can simulate human's gait well and is an ideal test-bed of intelligent bionic leg.

KW - Biped robot with heterogeneous legs

KW - Diagonal recurrent neural network

KW - Gait tracking

KW - Intelligent bionic leg

UR - http://www.scopus.com/inward/record.url?scp=78650668100&partnerID=8YFLogxK

U2 - 10.1109/BMEI.2010.5639258

DO - 10.1109/BMEI.2010.5639258

M3 - Conference article published in proceeding or book

SN - 9781424464968

VL - 5

SP - 1844

EP - 1848

BT - Proceedings - 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI 2010

T2 - 3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010

Y2 - 16 October 2010 through 18 October 2010

ER -

The control simulation of BRHL based on diagonal recurrent neural network

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this