Approach to biped robot control utilized redundancy in double support phase

Naoki Sonoda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

15 Citations (Scopus)

Abstract

This paper describes a biped walking control strategy in double support phase. The biped robot is controlled by a method which is usually used for controlling redundant manipulators. That is to say, the biped robot is regarded as a redundant manipulator under an assumption that the supporting leg is fixed to the floor. In this ease, the conventional control strategy of redundant manipulator is directly applied to that of biped robot. In particular, null space input is useful for the configuration control. Keeping the tip of manipulator reference at still stand, it is possible to determine the null space input to control configuration of the biped robot. By the above strategy, it is easy to control configuration of the biped robot. In this paper, we introduce a performance function that is useful for the null space input. Furthermore, performance indexes are defined to characterize the performance function.

Original languageEnglish
Pages1332-1336
Number of pages5
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
Duration: 1997 Nov 91997 Nov 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Sonoda, N., Murakami, T., & Ohnishi, K. (1997). Approach to biped robot control utilized redundancy in double support phase. 1332-1336. Paper presented at Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .