Walking control of bipedal robot on soft ground considering ground reaction force

Masahiro Komuta, Yoshitaka Abe, Seiichiro Katsura

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

Abstract

This paper presents a walking control strategy considering ground reaction force for bipedal robots. This research focuses on an unknown environment especially soft terrain. The proposed control method has two controllers. One is to control the robot balance by controlling the position of center of gravity (COG). The other is to control the position of swing leg. The COG position controller calculates force reference that is generated by the robot pushing the ground using the support leg. Then the ground reaction force is controlled to at the tip of the support leg with force controller without any environmental stiffness information. Bipedal robot walking simulations on the hard and soft grounds are also presented to show validity of the proposed controllers.

Original languageEnglish
Title of host publicationSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages318-323
Number of pages6
Volume2018-January
ISBN (Electronic)9781538622636
DOIs
Publication statusPublished - 2018 Feb 1
Event2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
Duration: 2017 Dec 112017 Dec 14

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
CountryTaiwan, Province of China
CityTaipei
Period17/12/1117/12/14

Fingerprint

walking
robots
controllers
Robot
Robots
Controller
Controllers
Centre of gravity
center of gravity
Gravitation
pushing
Control Strategy
stiffness
Stiffness
Calculate
Unknown
Simulation
simulation

ASJC Scopus subject areas

  • Modelling and Simulation
  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Engineering (miscellaneous)
  • Materials Science (miscellaneous)
  • Control and Optimization

Cite this

Komuta, M., Abe, Y., & Katsura, S. (2018). Walking control of bipedal robot on soft ground considering ground reaction force. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 318-323). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279232

Walking control of bipedal robot on soft ground considering ground reaction force. / Komuta, Masahiro; Abe, Yoshitaka; Katsura, Seiichiro.

SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 318-323.

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

Komuta, M, Abe, Y & Katsura, S 2018, Walking control of bipedal robot on soft ground considering ground reaction force. in SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 318-323, 2017 IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, Province of China, 17/12/11. https://doi.org/10.1109/SII.2017.8279232
Komuta M, Abe Y, Katsura S. Walking control of bipedal robot on soft ground considering ground reaction force. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January. Institute of Electrical and Electronics Engineers Inc. 2018. p. 318-323 https://doi.org/10.1109/SII.2017.8279232
Komuta, Masahiro ; Abe, Yoshitaka ; Katsura, Seiichiro. / Walking control of bipedal robot on soft ground considering ground reaction force. SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 318-323
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