Walking trajectory modification with gyroscope for biped robot on uneven terrain

Takahiko Sato, Kouhei Ohnishi

研究成果: Conference contribution

2 引用 (Scopus)

抜粋

This paper proposes a walking trajectory modification with a gyroscope for biped robots on uneven terrain. Many researchers proposed adaptation methods to uneven terrain for biped robots, such as adaptable mechanisms, compliance controls, etc. However, these methods have a limit in adaptation, and they cannot adapt on uneven terrain in some situations e.g., high bumps. In this paper, the walking trajectory modification for adaptation on uneven terrain is proposed. The proposed method is used with controllers for adapting to uneven terrain. The walking trajectory modification compensates the error that cannot be completely compensated by the controller. By using the proposed method, biped robots can walk on uneven terrain that exists unknown high bumps. The validity of the proposed method is confirmed by experiments.

元の言語English
ホスト出版物のタイトルProceedings - ISIE 2011
ホスト出版物のサブタイトル2011 IEEE International Symposium on Industrial Electronics
ページ969-974
ページ数6
DOI
出版物ステータスPublished - 2011 9 21
イベント2011 IEEE International Symposium on Industrial Electronics, ISIE 2011 - Gdansk, Poland
継続期間: 2011 6 272011 6 30

出版物シリーズ

名前Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics

Other

Other2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
Poland
Gdansk
期間11/6/2711/6/30

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • これを引用

    Sato, T., & Ohnishi, K. (2011). Walking trajectory modification with gyroscope for biped robot on uneven terrain. : Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics (pp. 969-974). [5984290] (Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2011.5984290