| NAIWR－1智能两足步行机器人模糊自适应控制研究 |
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| 引用本文： | 殷跃红,尉忠信,朱剑英.NAIWR－1智能两足步行机器人模糊自适应控制研究[J].南京航空航天大学学报,1996(5). |
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| 作者姓名： | 殷跃红 尉忠信 朱剑英 |
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| 作者单位： | 南京航空航天大学机电工程学院 |
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| 摘 要： | 本文对模糊控制、自适应控制和ＰＩＤ控制进行了综合研究，实现了自行研制的ＮＡＩＷＲ－１智能两足步行机器人的模糊自适应ＰＩＤ控制，并用模糊递阶协调方法进行关节到位协调送数，成功实现了两足步行机器人的稳定行走
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| 关 键 词： | 模糊控制论 自适应控制 PID控制 大系统 两足步行机器人 |
Study on Intelligent Biped Robot |
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| Yin Yuehong,Wei Zhongxin,Zhu Jianying.Study on Intelligent Biped Robot[J].Journal of Nanjing University of Aeronautics & Astronautics,1996(5). |
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| Authors: | Yin Yuehong Wei Zhongxin Zhu Jianying |
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| Abstract: | The theories of fuzzy control and adaptive PID control are dealt with in detail. The position and gesture membership functions are analysed systematically. By means of it, the fuzzy adaptive PID controller of the biped robot named NAIWR 1 has been described. The application of large scale system thoery to robot is explained. The related programmes are developed. The stable walk of the biped robot has been achieved. |
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| Keywords: | fuzzy control theory adaptive control systems PID control large scale system biped robot |
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