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 |
|---|---|
| Pages | 82-87 |
| Number of pages | 6 |
| Publication status | Published - 1998 Dec 1 |
| 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 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering