A method of deciding force feedback gain against external force for biped robot

Motomi Ikebe, Kouhei Ohnishi

Research output: Contribution to conferencePaper

Abstract

A biped robot has great difficulty in keeping stable walk because it has no fixed points to the ground. Enhancement of stability is one of the most important topics of a biped robot. If a robot can walk stably even under unexpected external force, we can say that its stability is remarkably improved. Robot motion should be changed by the amount of external force. If the external force is small, the trajectory does not need to be modified actively. It is desired that designers input the same command of robot motion and passive robot motion against external force is achieved. Compliance control is commonly applied to realize passive motion. The characteristics of compliance control is generally determined set to the definite value without considering the walking stability. In this paper, we propose a novel stabilizing method that modifies the body motion by the variable force feedback gain of compliance control based on the position control. This feedback gain is determined by ZMP trajectory and external force only when external force was recognized, so a robot can move keeping its stability under unexpected external force.

Original languageEnglish
Pages422-427
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

ASJC Scopus subject areas

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

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    Ikebe, M., & Ohnishi, K. (2006). A method of deciding force feedback gain against external force for biped robot. 422-427. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631696