A dynamic hybrid control of biped robot in supporting area

Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Contribution to conferencePaper

2 Citations (Scopus)

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 languageEnglish
Pages381-386
Number of pages6
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

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ASJC Scopus subject areas

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

Cite this

Morisawa, M., & Ohnishi, K. (2004). A dynamic hybrid control of biped robot in supporting area. 381-386. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.