Foot pressure control based on extraction of environment mode

Tomoyuki Suzuki, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

In walking motion of biped robots, Zero Moment Point (ZMP) is treated as important. ZMP is a stability index and keeping ZMP in the stable region is important for biped robots to walk. In this paper, foot pressure control based on extraction of environment mode is proposed as a ZMP stabilizing control. Environment mode is representation of connection between the robot and the environment. In this control, the reaction force acting on the sole from the ground are extracted as environment mode. By controlling foot pressure according to environment mode, ZMP is kept in the stable region. Conventional mode control is not able to be applied to the movement of desired ZMP. However, the proposed control is able to deal with the movement by generating mode command from ZMP reference trajectory, which is desired ZMP trajectory. The error between mode command and mode response is suppressed by mode compliance control. The validity of the proposed method is confirmed by simulations and experiments. In human walking motion, ZMP moves from heel to tip in single support phase. With the proposed environment mode control, the robot is able to walk stably adapting such a ZMP reference trajectory.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages1332-1337
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Suzuki, T., & Ohnishi, K. (2006). Foot pressure control based on extraction of environment mode. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 1332-1337). [4237867] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372545