Approach to biped robot control utilized redundancy in double support phase

Naoki Sonoda, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

16 被引用数 (Scopus)

抄録

This paper describes a biped walking control strategy in double support phase. The biped robot is controlled by a method which is usually used for controlling redundant manipulators. That is to say, the biped robot is regarded as a redundant manipulator under an assumption that the supporting leg is fixed to the floor. In this ease, the conventional control strategy of redundant manipulator is directly applied to that of biped robot. In particular, null space input is useful for the configuration control. Keeping the tip of manipulator reference at still stand, it is possible to determine the null space input to control configuration of the biped robot. By the above strategy, it is easy to control configuration of the biped robot. In this paper, we introduce a performance function that is useful for the null space input. Furthermore, performance indexes are defined to characterize the performance function.

本文言語English
ページ1332-1336
ページ数5
出版ステータスPublished - 1997 12月 1
イベントProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
継続期間: 1997 11月 91997 11月 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Approach to biped robot control utilized redundancy in double support phase」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル