Interactive Control of Environmental Mode for Biped Walking

Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Contribution to conferencePaperpeer-review

16 Citations (Scopus)


This paper describes a motion control method of a biped robot which has multiple contact points to environment. The biped robot is a mobile system that has contact and non-contact state repeatedly to environmentHence, the position sensors, which measure the gap of the bottom foot and ground surface, are mounted on four corners of the foot. In addition, the environmental modes are quarried from the measured environmental information. However, these modes have to be compliant to environment due to the stability effect on biped robot. Thus, each foot motion tracks these modes. This proposed method provides very high extendibility. Basically, the environmental modes can be extended to the other contact tasks. Indeed, a robot can adapt itself to various environments. The validity of the proposed method is confirmed by the numerical simulation.

Original languageEnglish
Number of pages6
Publication statusPublished - 2003 Dec 1
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6


OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
Country/TerritoryUnited States
CityRoanoke, VA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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