Trajectory planning and control for biped robot with toe and heel joints

Tomoya Sato; Sho Sakaino; Kouhei Ohnishi

doi:10.1109/AMC.2010.5464011

Trajectory planning and control for biped robot with toe and heel joints

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.

Original language	English
Title of host publication	AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages	129-136
Number of pages	8
DOIs	https://doi.org/10.1109/AMC.2010.5464011
Publication status	Published - 2010 Jun 25
Event	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan Duration: 2010 Mar 21 → 2010 Mar 24

Publication series

Name	International Workshop on Advanced Motion Control, AMC

Other

Other	2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Country/Territory	Japan
City	Nagaoka, Niigata
Period	10/3/21 → 10/3/24

ASJC Scopus subject areas

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

Access to Document

10.1109/AMC.2010.5464011

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Trajectory planning and control for biped robot with toe and heel joints. / Sato, Tomoya; Sakaino, Sho; Ohnishi, Kouhei.
AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings. 2010. p. 129-136 5464011 (International Workshop on Advanced Motion Control, AMC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sato, T, Sakaino, S & Ohnishi, K 2010, Trajectory planning and control for biped robot with toe and heel joints. in AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings., 5464011, International Workshop on Advanced Motion Control, AMC, pp. 129-136, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464011

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abstract = "In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.",

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N2 - In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.

AB - In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.

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Trajectory planning and control for biped robot with toe and heel joints

Abstract

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ASJC Scopus subject areas

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