| Biped robot with two legs is a kind of advanced humanoid robots that can walk like human being and have ability of doing repetitive, hard and exact-need works instead of human being in his living environment. Now biped robot already can walk using two legs, but gait is not like human being's. In biomedicine rehabilitation field, the intelligent prosthesis controlled by micro-process unit is studied for amputee, and intelligent prosthetic above-knee limb can simulate human leg's moving and has humanoid knee joint. The gait of amputee with intelligent prosthetic limb is more like health people gait. It can improve biped robot to introduce the study methods and technologies of intelligent prosthesis into biped robot study. Human being's two legs and their gait are symmetrical in normal walking, but under lame or other knee trauma situation, two legs are heterogeneous. The walking with heterogeneous legs is advanced function of human being and should be studied.Biped robot with heterogeneous legs (BRHL) that is composed of a leg of normal biped robot, called artificial leg (AL), and an intelligent bionic leg (IBL), The artificial leg has drive joints, Its bionic characteristics is critical to the robot's total performance. BRHL provide a good test-bed for study of intelligent bionic leg that has good bionic characteristics, and can be used to study the coordination between human being and intelligent limb, and the walking with heterogeneous legs.Following the meaning, contents and methods of BRHL study, the mechanism and form of BRHL is given. Using division modeling method, the kinematics and Lagrangian dynamics models of artificial leg in stance phase and swing phase are built. 4-bar closed-chain knee joint given to be knee joint of artificial leg has polycentric characteristic of human knee joint.iterative learning control is introduced. P-style open-closed-loop iterative learning control is studied. The condition of convergence is given. In view of whole periodical... |
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