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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

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 languageEnglish
Title of host publicationProceedings - 2010 3rd International Conference on Biomedical Engineering and Informatics, BMEI 2010
Pages1844-1848
Number of pages5
Volume5
DOIs
Publication statusPublished - 1 Dec 2010
Event3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010 - Yantai, China
Duration: 16 Oct 201018 Oct 2010

Conference

Conference3rd International Conference on BioMedical Engineering and Informatics, BMEI 2010
Country/TerritoryChina
CityYantai
Period16/10/1018/10/10

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

Cite this