A method of adapting motion to depressed environment for biped robot

Kei Mikami, Kouhei Ohnishi

研究成果: Conference contribution

抄録

This paper describes adapting motion of a biped robot. In some cases that biped robots walk in human environment, the robots encounter non-flat surfaces. To adapt to such environment, it is necessary to get environmental information by sensors. In this paper, the environmental information is transformed into useful structure, defined as "environmental modes". The environmental modes consist of four modes; heaving, rolling, pitching, and twisting. By controlling biped robots, based on the environmental modes, they can adapt to non-flat surfaces. However, the environment with depressions is not considered in the conventional studies on controlling the environmental modes. Therefore, this research focuses on adapting motion to the depressed environment. A tip of the swing leg reached the bottom of depressions according to the heaving mode. The conventional study on controlling the environmental modes is introduced and extended in the proposed method. The experimental results showed the validity of the proposed method.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ595-600
ページ数6
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

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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