Interactive Control of Environmental Mode for Biped Walking

Mitsuharu Morisawa; Kouhei Ohnishi

doi:10.1109/IECON.2003.1280029

Interactive Control of Environmental Mode for Biped Walking

Mitsuharu Morisawa, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

16 Citations (Scopus)

Abstract

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 language	English
Pages	490-495
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2003.1280029
Publication status	Published - 2003 Dec 1
Event	The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States Duration: 2003 Nov 2 → 2003 Nov 6

Other

Other	The 29th Annual Conference of the IEEE Industrial Electronics Society
Country/Territory	United States
City	Roanoke, VA
Period	03/11/2 → 03/11/6

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2003.1280029

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title = "Interactive Control of Environmental Mode for Biped Walking",

abstract = "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.",

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AU - Ohnishi, Kouhei

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AB - 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.

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Interactive Control of Environmental Mode for Biped Walking

Abstract

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ASJC Scopus subject areas

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