A control method based on modal transformation for biped robots to climb unknown steps

Shuhei Shimmyo, Miki Nakazato, Kei Mikami, Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper proposes a control method based on modal transformation for biped robots to climb unknown steps. This method is able to control the foot position of the biped robot and the ground reaction force acting in vertical direction when the biped robot climbs unknown steps in a double-support phase. The effectiveness of the proposed method is confirmed by simulation and experimental results.

Original languageEnglish
Pages (from-to)468-476+10
Journalieej transactions on industry applications
Volume130
Issue number4
Publication statusPublished - 2010 Jun 21

Keywords

  • Biped robot
  • Modal transformation
  • Unknown steps
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Shimmyo, S., Nakazato, M., Mikami, K., Sato, T., Sakaino, S., & Ohnishi, K. (2010). A control method based on modal transformation for biped robots to climb unknown steps. ieej transactions on industry applications, 130(4), 468-476+10.