【作者】 肖军； 苏洁； 郑波； 贾鹏宇；

【Author】 XIAO Jun SU Jie ZHENG Bo JIA Peng-yu College of Information Science and Engineering,Northeastern University,Shenyang 110004,China.

【机构】 东北大学 信息科学与工程学院；

【摘要】 异构双腿机器人是一种新型的仿人机器人研究平台,它由人工腿和智能仿生腿组成,人工腿用来模拟残疾人的健康腿,智能仿生腿用来模拟智能假肢．主要研究了基于过程神经网络的智能仿生腿步态识别系统,依靠6维力传感器检测出不同路况下的地面反力信息,由过程神经网络辨识出当前路况,根据不同路况对应的步态信息控制阻尼器的输出力,实现仿生腿对人工腿的步态跟随,给出了过程神经网络模型并推导了相应的算法,实验结果充分证实了该方法的合理性和可行性．更多还原

【Abstract】 The biped robot with heterogeneous Legs(BRHL) is the test-bed of a novel humanoid robot,which consists of an artificial leg and an intelligent bionic leg,the artificial leg is used to simulate the amputee’s healthy leg and the other works as the intelligent artificial limb.The gait identification system in intelligent bionic leg based on the process neural networks is studied.The system depends on the six-dimension force sensor to detect the ground’s counterforce on diffierent terrain,identifies the current terrain by the process neural networks,controls the output force of the damper according to the gait information and realizes the bionic leg following with the artificial leg.The model of the process neural networks is presented,and the related arithmetics are calculated.The experiment results show the rationality and feasibility of the proposed method.更多还原