Abstract
This paper describes a novel approach of a stable walking control in 3D biped robot with an unknown loaded object. In general, it is difficult for the biped robot to realize a stable walking without using information of a loaded object since there is no fixed point to keep the stable posture of the robot. Then the estimation of the mass and the position of a target object is useful for increasing the walking stability. Here we propose a torque sensorless estimator of the loaded object by external torque observer. The estimated variables make it easy to determine the stable motion and trajectory of the robot by considering C.O.G (Center of Gravity of the robot). The effectiveness of the proposed method is confirmed by several simulations and experiments.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Editors | Anon |
| Publisher | IEEE |
| Pages | 82-87 |
| Number of pages | 6 |
| Publication status | Published - 1998 |
| Event | Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal Duration: 1998 Jun 29 → 1998 Jul 1 |
Other
| Other | Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC |
|---|---|
| City | Coimbra, Portugal |
| Period | 98/6/29 → 98/7/1 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Approach to stable motion control of biped robot with unknown load by torque estimator. / Nishikawa, N.; Murakami, Toshiyuki; Ohnishi, K.
International Workshop on Advanced Motion Control, AMC. ed. / Anon. IEEE, 1998. p. 82-87.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Approach to stable motion control of biped robot with unknown load by torque estimator
AU - Nishikawa, N.
AU - Murakami, Toshiyuki
AU - Ohnishi, K.
PY - 1998
Y1 - 1998
N2 - This paper describes a novel approach of a stable walking control in 3D biped robot with an unknown loaded object. In general, it is difficult for the biped robot to realize a stable walking without using information of a loaded object since there is no fixed point to keep the stable posture of the robot. Then the estimation of the mass and the position of a target object is useful for increasing the walking stability. Here we propose a torque sensorless estimator of the loaded object by external torque observer. The estimated variables make it easy to determine the stable motion and trajectory of the robot by considering C.O.G (Center of Gravity of the robot). The effectiveness of the proposed method is confirmed by several simulations and experiments.
AB - This paper describes a novel approach of a stable walking control in 3D biped robot with an unknown loaded object. In general, it is difficult for the biped robot to realize a stable walking without using information of a loaded object since there is no fixed point to keep the stable posture of the robot. Then the estimation of the mass and the position of a target object is useful for increasing the walking stability. Here we propose a torque sensorless estimator of the loaded object by external torque observer. The estimated variables make it easy to determine the stable motion and trajectory of the robot by considering C.O.G (Center of Gravity of the robot). The effectiveness of the proposed method is confirmed by several simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=0032290237&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0032290237&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0032290237
SP - 82
EP - 87
BT - International Workshop on Advanced Motion Control, AMC
A2 - Anon, null
PB - IEEE
ER -