Trajectory planning and control for biped robot with toe and heel joints

Tomoya Sato, Sho Sakaino, Kouhei Ohnishi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

In this paper, a trajectory planning and a control for biped robots with toe and heel joints are shown. We added toe and heel joints to a basic biped robot. A trajectory planning is extended for the walking with the toe and heel joints. Using this mechanism and this trajectory planning, the stride can be increased more. Additionally, a control planning is presented for division of walking stabilization and environmental adaptation. A time-based switching impedance controller with the toe and heel joints is proposed for adaptation to uneven terrain. Using this control planning and the proposed method, the stable walking on the rough terrain is realized. The validity is confirmed by experimental results.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ129-136
ページ数8
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

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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