Approach to stable motion control of biped robot with unknown load by torque estimator

N. Nishikawa, T. Murakami, K. Ohnishi

Research output: Contribution to conferencePaper

2 Citations (Scopus)

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 languageEnglish
Pages82-87
Number of pages6
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
Duration: 1998 Jun 291998 Jul 1

Other

OtherProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
CityCoimbra, Portugal
Period98/6/2998/7/1

ASJC Scopus subject areas

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

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    Nishikawa, N., Murakami, T., & Ohnishi, K. (1998). Approach to stable motion control of biped robot with unknown load by torque estimator. 82-87. Paper presented at Proceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC, Coimbra, Portugal, .