A method of deciding force feedback gain against external force for biped robot

Motomi Ikebe, Kouhei Ohnishi

研究成果: Paper

抜粋

A biped robot has great difficulty in keeping stable walk because it has no fixed points to the ground. Enhancement of stability is one of the most important topics of a biped robot. If a robot can walk stably even under unexpected external force, we can say that its stability is remarkably improved. Robot motion should be changed by the amount of external force. If the external force is small, the trajectory does not need to be modified actively. It is desired that designers input the same command of robot motion and passive robot motion against external force is achieved. Compliance control is commonly applied to realize passive motion. The characteristics of compliance control is generally determined set to the definite value without considering the walking stability. In this paper, we propose a novel stabilizing method that modifies the body motion by the variable force feedback gain of compliance control based on the position control. This feedback gain is determined by ZMP trajectory and external force only when external force was recognized, so a robot can move keeping its stability under unexpected external force.

元の言語English
ページ422-427
ページ数6
DOI
出版物ステータスPublished - 2006 11 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3 272006 3 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
Turkey
Istanbul
期間06/3/2706/3/29

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • これを引用

    Ikebe, M., & Ohnishi, K. (2006). A method of deciding force feedback gain against external force for biped robot. 422-427. 論文発表場所 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631696