TY - GEN
T1 - Walking control of bipedal robot on soft ground considering ground reaction force
AU - Komuta, Masahiro
AU - Abe, Yoshitaka
AU - Katsura, Seiichiro
N1 - Funding Information:
*This study was partially supported by Takahashi Industrial and Economic Research Foundation.
Funding Information:
ACKNOWLEDGMENT This study was partially supported by Takahashi Industrial and Economic Research Foundation.
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85050794099&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050794099&partnerID=8YFLogxK
U2 - 10.1109/SII.2017.8279232
DO - 10.1109/SII.2017.8279232
M3 - Conference contribution
AN - SCOPUS:85050794099
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 318
EP - 323
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -