A dynamic hybrid control of biped robot in supporting area

Mitsuharu Morisawa, Kouhei Ohnishi

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

This paper addresses a motion control of biped robot for realization of robust various gait. It is known well that motion control can separate kinematics and dynamics of manipulation system and the system behaves as given nominal model. Hence, this paper tries to apply the technique of motion control to a legged system. However, because the legged system has no fixed point unlike in the case of manipulation system, motion of system is restricted by contact force between the system and an environment. Therefore, it is necessary to control the torque around ZMP for a stable walking. In contrast, a distance between both legs should be controlled. Consequently, a dynamic hybrid control is introduced for decoupling COG and relative leg motion. A coordinate system of dynamic hybrid control is set by according to walking motion. Hence, a dynamic hybrid control based on acceleration decoupling is proposed. Then adaptive motion for a rough terrain is realized. The effectiveness of proposed method is confirmed by experimental results.

本文言語English
ページ381-386
ページ数6
出版ステータスPublished - 2004 7 12
イベントProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
継続期間: 2004 3 252004 3 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
国/地域Japan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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