Approach to stable motion control of biped robot with unknown load by torque estimator

N. Nishikawa, T. Murakami, K. Ohnishi

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

This paper describes a novel approach of a stable walking control in 3D biped robot with an unknown loaded object. In general, it is difficult for the biped robot to realize a stable walking without using information of a loaded object since there is no fixed point to keep the stable posture of the robot. Then the estimation of the mass and the position of a target object is useful for increasing the walking stability. Here we propose a torque sensorless estimator of the loaded object by external torque observer. The estimated variables make it easy to determine the stable motion and trajectory of the robot by considering C.O.G (Center of Gravity of the robot). The effectiveness of the proposed method is confirmed by several simulations and experiments.

本文言語English
ページ82-87
ページ数6
出版ステータスPublished - 1998 12月 1
イベントProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC - Coimbra, Portugal
継続期間: 1998 6月 291998 7月 1

Other

OtherProceedings of the 1998 5th International Workshop on Advanced Motion Control, AMC
CityCoimbra, Portugal
Period98/6/2998/7/1

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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