A control of biped robot which applies inverted pendulum mode with virtual supporting point

Toshiaki Tsuji, Kouhei Ohnishi

Research output: Contribution to conferencePaper

45 Citations (Scopus)

Abstract

We applied inverted pendulum mode to the control of biped robot in order to plan a trajectory on real time. Though inverted pendulum mode is useful to plan a trajectory, the stability margin of biped robot is very narrow because of its structural limit. Virtual Supporting Point (VSP), a new indicator of biped robot control, is suggested with a view to broaden the stability margin of biped robot. Walking parameters could be adjusted by setting VSP without changing other parameters. The mobility of biped robot will be improved compare to usual method if proper VSP is set. The stable range of VSP is figured out by revealing the relationship between ZMP and VSP. Additionary, biped locomotion could be designed simply and its stability could be determined clearly beforehand by applying VSP. Results of the simulation and the experiment shows the validity of the suggested method.

Original languageEnglish
Pages478-483
Number of pages6
Publication statusPublished - 2002 Dec 1
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Tsuji, T., & Ohnishi, K. (2002). A control of biped robot which applies inverted pendulum mode with virtual supporting point. 478-483. Paper presented at 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia.