Interactive Control of Environmental Mode for Biped Walking

Mitsuharu Morisawa, Kouhei Ohnishi

研究成果: Paper査読

16 被引用数 (Scopus)

抄録

This paper describes a motion control method of a biped robot which has multiple contact points to environment. The biped robot is a mobile system that has contact and non-contact state repeatedly to environmentHence, the position sensors, which measure the gap of the bottom foot and ground surface, are mounted on four corners of the foot. In addition, the environmental modes are quarried from the measured environmental information. However, these modes have to be compliant to environment due to the stability effect on biped robot. Thus, each foot motion tracks these modes. This proposed method provides very high extendibility. Basically, the environmental modes can be extended to the other contact tasks. Indeed, a robot can adapt itself to various environments. The validity of the proposed method is confirmed by the numerical simulation.

本文言語English
ページ490-495
ページ数6
DOI
出版ステータスPublished - 2003 12 1
イベントThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
継続期間: 2003 11 22003 11 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
国/地域United States
CityRoanoke, VA
Period03/11/203/11/6

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

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