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.
|ジャーナル||ieej transactions on industry applications|
|出版ステータス||Published - 2010 6月 21|
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