Variable compliance control based on soft-landing trajectory for hopping robot

Eijiro Ohashi, Kouhei Ohnishi

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

13 Citations (Scopus)

Abstract

In this paper, soft-landing of hopping robot is considered. In the landing phase, the robot is affected by reaction force from the ground. In order to achieve a desired COG (center of gravity) position at bottom, the soft-landing trajectory is introduced. This trajectory was planned to minimize impulse and maximum force from the ground. However the trajectory is not sufficient to apply to actual robots because the robots cannot adapt unknown (or inconstant) external force. Therefore, in this research, we propose novel variable compliance control with soft-landing trajectory. Compliance parameters are modified based to the soft-landing trajectory so that transition from force control to position control can be accomplished smoothly. While force control should be applied to absorb the impact from the ground, position control should be applied at bottom since the robot should track the desired trajectory for the next hop. With this method, transition from force control at touchdown to position control at bottom can be achieved appropriately. The robot can land with suppressing the impact force with accomplishing the desired COG position at bottom.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages117-122
Number of pages6
Volume1
DOIs
Publication statusPublished - 2004
EventIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society - Busan, Korea, Republic of
Duration: 2004 Nov 22004 Nov 6

Other

OtherIECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society
CountryKorea, Republic of
CityBusan
Period04/11/204/11/6

Fingerprint

Compliance control
Landing
Trajectories
Robots
Force control
Position control
Gravitation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Ohashi, E., & Ohnishi, K. (2004). Variable compliance control based on soft-landing trajectory for hopping robot. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 117-122). [WC4-3] https://doi.org/10.1109/IECON.2004.1433294

Variable compliance control based on soft-landing trajectory for hopping robot. / Ohashi, Eijiro; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 1 2004. p. 117-122 WC4-3.

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

Ohashi, E & Ohnishi, K 2004, Variable compliance control based on soft-landing trajectory for hopping robot. in IECON Proceedings (Industrial Electronics Conference). vol. 1, WC4-3, pp. 117-122, IECON 2004 - 30th Annual Conference of IEEE Industrial Electronics Society, Busan, Korea, Republic of, 04/11/2. https://doi.org/10.1109/IECON.2004.1433294
Ohashi E, Ohnishi K. Variable compliance control based on soft-landing trajectory for hopping robot. In IECON Proceedings (Industrial Electronics Conference). Vol. 1. 2004. p. 117-122. WC4-3 https://doi.org/10.1109/IECON.2004.1433294
Ohashi, Eijiro ; Ohnishi, Kouhei. / Variable compliance control based on soft-landing trajectory for hopping robot. IECON Proceedings (Industrial Electronics Conference). Vol. 1 2004. pp. 117-122
@inproceedings{f61726c8ddf74c1f90010b00cd75157b,
title = "Variable compliance control based on soft-landing trajectory for hopping robot",
abstract = "In this paper, soft-landing of hopping robot is considered. In the landing phase, the robot is affected by reaction force from the ground. In order to achieve a desired COG (center of gravity) position at bottom, the soft-landing trajectory is introduced. This trajectory was planned to minimize impulse and maximum force from the ground. However the trajectory is not sufficient to apply to actual robots because the robots cannot adapt unknown (or inconstant) external force. Therefore, in this research, we propose novel variable compliance control with soft-landing trajectory. Compliance parameters are modified based to the soft-landing trajectory so that transition from force control to position control can be accomplished smoothly. While force control should be applied to absorb the impact from the ground, position control should be applied at bottom since the robot should track the desired trajectory for the next hop. With this method, transition from force control at touchdown to position control at bottom can be achieved appropriately. The robot can land with suppressing the impact force with accomplishing the desired COG position at bottom.",
author = "Eijiro Ohashi and Kouhei Ohnishi",
year = "2004",
doi = "10.1109/IECON.2004.1433294",
language = "English",
volume = "1",
pages = "117--122",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - Variable compliance control based on soft-landing trajectory for hopping robot

AU - Ohashi, Eijiro

AU - Ohnishi, Kouhei

PY - 2004

Y1 - 2004

N2 - In this paper, soft-landing of hopping robot is considered. In the landing phase, the robot is affected by reaction force from the ground. In order to achieve a desired COG (center of gravity) position at bottom, the soft-landing trajectory is introduced. This trajectory was planned to minimize impulse and maximum force from the ground. However the trajectory is not sufficient to apply to actual robots because the robots cannot adapt unknown (or inconstant) external force. Therefore, in this research, we propose novel variable compliance control with soft-landing trajectory. Compliance parameters are modified based to the soft-landing trajectory so that transition from force control to position control can be accomplished smoothly. While force control should be applied to absorb the impact from the ground, position control should be applied at bottom since the robot should track the desired trajectory for the next hop. With this method, transition from force control at touchdown to position control at bottom can be achieved appropriately. The robot can land with suppressing the impact force with accomplishing the desired COG position at bottom.

AB - In this paper, soft-landing of hopping robot is considered. In the landing phase, the robot is affected by reaction force from the ground. In order to achieve a desired COG (center of gravity) position at bottom, the soft-landing trajectory is introduced. This trajectory was planned to minimize impulse and maximum force from the ground. However the trajectory is not sufficient to apply to actual robots because the robots cannot adapt unknown (or inconstant) external force. Therefore, in this research, we propose novel variable compliance control with soft-landing trajectory. Compliance parameters are modified based to the soft-landing trajectory so that transition from force control to position control can be accomplished smoothly. While force control should be applied to absorb the impact from the ground, position control should be applied at bottom since the robot should track the desired trajectory for the next hop. With this method, transition from force control at touchdown to position control at bottom can be achieved appropriately. The robot can land with suppressing the impact force with accomplishing the desired COG position at bottom.

UR - http://www.scopus.com/inward/record.url?scp=20544459943&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=20544459943&partnerID=8YFLogxK

U2 - 10.1109/IECON.2004.1433294

DO - 10.1109/IECON.2004.1433294

M3 - Conference contribution

AN - SCOPUS:20544459943

VL - 1

SP - 117

EP - 122

BT - IECON Proceedings (Industrial Electronics Conference)

ER -