Walking control of bipedal robot on soft ground considering ground reaction force

Masahiro Komuta, Yoshitaka Abe, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper presents a walking control strategy considering ground reaction force for bipedal robots. This research focuses on an unknown environment especially soft terrain. The proposed control method has two controllers. One is to control the robot balance by controlling the position of center of gravity (COG). The other is to control the position of swing leg. The COG position controller calculates force reference that is generated by the robot pushing the ground using the support leg. Then the ground reaction force is controlled to at the tip of the support leg with force controller without any environmental stiffness information. Bipedal robot walking simulations on the hard and soft grounds are also presented to show validity of the proposed controllers.

本文言語English
ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
出版社Institute of Electrical and Electronics Engineers Inc.
ページ318-323
ページ数6
ISBN(電子版)9781538622636
DOI
出版ステータスPublished - 2018 2月 1
イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
継続期間: 2017 12月 112017 12月 14

出版物シリーズ

名前SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
2018-January

Other

Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
国/地域Taiwan, Province of China
CityTaipei
Period17/12/1117/12/14

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 器械工学
  • 人工知能
  • コンピュータ サイエンスの応用
  • 工学(その他)
  • 材料科学(その他)
  • 制御と最適化

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