Abstract
This paper addresses a motion control of biped robot for realization of robust various gait. It is known well that motion control can separate kinematics and dynamics of manipulation system and the system behaves as given nominal model. Hence, this paper tries to apply the technique of motion control to a legged system. However, because the legged system has no fixed point unlike in the case of manipulation system, motion of system is restricted by contact force between the system and an environment. Therefore, it is necessary to control the torque around ZMP for a stable walking. In contrast, a distance between both legs should be controlled. Consequently, a dynamic hybrid control is introduced for decoupling COG and relative leg motion. A coordinate system of dynamic hybrid control is set by according to walking motion. Hence, a dynamic hybrid control based on acceleration decoupling is proposed. Then adaptive motion for a rough terrain is realized. The effectiveness of proposed method is confirmed by experimental results.
| Original language | English |
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| Pages | 381-386 |
| Number of pages | 6 |
| Publication status | Published - 2004 Jul 12 |
| Event | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan Duration: 2004 Mar 25 → 2004 Mar 28 |
Other
| Other | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 |
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| Country/Territory | Japan |
| City | Kawasaki |
| Period | 04/3/25 → 04/3/28 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering