Approach to biped robot control utilized redundancy in double support phase

Naoki Sonoda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingChapter

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE Comp Soc
Pages1332-1336
Number of pages5
Volume3
Publication statusPublished - 1997
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

Fingerprint

Redundancy
Redundant manipulators
Robots
Manipulators

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Sonoda, N., Murakami, T., & Ohnishi, K. (1997). Approach to biped robot control utilized redundancy in double support phase. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1332-1336). IEEE Comp Soc.

Approach to biped robot control utilized redundancy in double support phase. / Sonoda, Naoki; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE Comp Soc, 1997. p. 1332-1336.

Research output: Chapter in Book/Report/Conference proceedingChapter

Sonoda, N, Murakami, T & Ohnishi, K 1997, Approach to biped robot control utilized redundancy in double support phase. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE Comp Soc, pp. 1332-1336, Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, 97/11/9.
Sonoda N, Murakami T, Ohnishi K. Approach to biped robot control utilized redundancy in double support phase. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE Comp Soc. 1997. p. 1332-1336
Sonoda, Naoki ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Approach to biped robot control utilized redundancy in double support phase. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE Comp Soc, 1997. pp. 1332-1336
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