Motion control of environmental adaptation for biped robot

Eijiro Ohashi, Tomoya Sato, Kouhei Ohnishi

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

5 Citations (Scopus)

Abstract

This paper describes adaptive motion of a biped robot with the flat soles. The robot obtains the information of reaction force from the ground by sensors at each corner of the soles. From the sensor information, environment modes are extracted. By utilizing environment mode information, the robot can detect unevenness of the environment. In some cases, the robot cannot achieve stable walking motion because of the unstable contact between the sole and the ground. In order to walk stably on the uneven ground, the robot should contact with three corners of the sole since 3-point contact is stable. Therefore, in this research, we propose a method that is applicable to the robot on the uneven ground. 3-point contact is achieved by determining the environment modes.

Original languageEnglish
Title of host publicationAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
Pages306-311
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Publication series

NameInternational Workshop on Advanced Motion Control, AMC
Volume1

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

ASJC Scopus subject areas

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

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  • Cite this

    Ohashi, E., Sato, T., & Ohnishi, K. (2008). Motion control of environmental adaptation for biped robot. In AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 306-311). [4516084] (International Workshop on Advanced Motion Control, AMC; Vol. 1). https://doi.org/10.1109/AMC.2008.4516084