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

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

システムデザイン工学科

研究成果: Article › 査読

1 被引用数 (Scopus)

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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
巻	130
号	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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引用スタイル

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abstract = "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.",

keywords = "Biped robot, Modal transformation, Unknown steps, ZMP",

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AU - Shimmyo, Shuhei

AU - Nakazato, Miki

AU - Mikami, Kei

AU - Sato, Tomoya

AU - Sakaino, Sho

AU - Ohnishi, Kouhei

PY - 2010/6/21

Y1 - 2010/6/21

N2 - 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.

AB - 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.

KW - Biped robot

KW - Modal transformation

KW - Unknown steps

KW - ZMP

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

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ASJC Scopus subject areas

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