Walking trajectory modification with gyroscope for biped robot on uneven terrain

Takahiko Sato, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

This paper proposes a walking trajectory modification with a gyroscope for biped robots on uneven terrain. Many researchers proposed adaptation methods to uneven terrain for biped robots, such as adaptable mechanisms, compliance controls, etc. However, these methods have a limit in adaptation, and they cannot adapt on uneven terrain in some situations e.g., high bumps. In this paper, the walking trajectory modification for adaptation on uneven terrain is proposed. The proposed method is used with controllers for adapting to uneven terrain. The walking trajectory modification compensates the error that cannot be completely compensated by the controller. By using the proposed method, biped robots can walk on uneven terrain that exists unknown high bumps. The validity of the proposed method is confirmed by experiments.

Original languageEnglish
Title of host publicationProceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics
Pages969-974
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
Duration: 2011 Jun 272011 Jun 30

Other

Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
CountryPoland
CityGdansk
Period11/6/2711/6/30

Fingerprint

Gyroscopes
Trajectories
Robots
Compliance control
Controllers
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Sato, T., & Ohnishi, K. (2011). Walking trajectory modification with gyroscope for biped robot on uneven terrain. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics (pp. 969-974). [5984290] https://doi.org/10.1109/ISIE.2011.5984290

Walking trajectory modification with gyroscope for biped robot on uneven terrain. / Sato, Takahiko; Ohnishi, Kouhei.

Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. p. 969-974 5984290.

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

Sato, T & Ohnishi, K 2011, Walking trajectory modification with gyroscope for biped robot on uneven terrain. in Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics., 5984290, pp. 969-974, 2011 IEEE International Symposium on Industrial Electronics, ISIE 2011, Gdansk, Poland, 11/6/27. https://doi.org/10.1109/ISIE.2011.5984290
Sato T, Ohnishi K. Walking trajectory modification with gyroscope for biped robot on uneven terrain. In Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. p. 969-974. 5984290 https://doi.org/10.1109/ISIE.2011.5984290
Sato, Takahiko ; Ohnishi, Kouhei. / Walking trajectory modification with gyroscope for biped robot on uneven terrain. Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics. 2011. pp. 969-974
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