Biped Robot Control for Variable Speed Walking Considering Joint Torque Limit

Ito Daiki, Murakami Toshiyuki, Ohnishi Kouhei

研究成果: Article査読

1 被引用数 (Scopus)

抄録

One of the the important issues to drive bipedal robot is a limit of joint actuator. In case of a high-speed walking motion or the motion with heavy load, motor torque is saturated. To address this issue, this paper proposes a control strategy to avoid the torque saturation. First, the walking pattern is generated according to the requred walking speed. Then the exaggerated torque is calcurated from the final torque reference and the estimated disturbance torque. Second, the generated walking pattern is modified so that the motor torque is not saturated. The effectiveness of the proposed algorithm is confirmed by several results of simulation and experiment.

本文言語English
ページ(範囲)489-494
ページ数6
ジャーナルieej transactions on industry applications
122
5
DOI
出版ステータスPublished - 2002

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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