Gyroscope integrated environmental mode compliance control for biped robot

Takahiko Sato, Hisashi Ono, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Many researchers proposed methods to adapt uneven terrain for biped robots. Environmental mode compliance control is one of those methods. Another feature of this control is that it makes a walking stability. However, the environmental mode compliance controller cannot maintain the body horizontally, and cannot be applied if the body is inclined. In this paper, gyroscope integrated environmental mode compliance control is proposed. This method can compensate the ZMP error due to the inclination of the body. Thus, this method can be applied even if the body is inclined. The validity of the proposed method is confirmed by experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
DOIs
Publication statusPublished - 2012
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

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ASJC Scopus subject areas

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

Cite this

Sato, T., Ono, H., & Ohnishi, K. (2012). Gyroscope integrated environmental mode compliance control for biped robot. In International Workshop on Advanced Motion Control, AMC [6197049] https://doi.org/10.1109/AMC.2012.6197049