A control method based on modal transformation for biped robots to climb unknown steps

Shuhei Shimmyo, Miki Nakazato, Kei Mikami, Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Article査読

1 被引用数 (Scopus)

抄録

This paper proposes a control method based on modal transformation for biped robots to climb unknown steps. This method is able to control the foot position of the biped robot and the ground reaction force acting in vertical direction when the biped robot climbs unknown steps in a double-support phase. The effectiveness of the proposed method is confirmed by simulation and experimental results.

本文言語English
ページ(範囲)468-476+10
ジャーナルieej transactions on industry applications
130
4
出版ステータスPublished - 2010 6月 21

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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