A control method for dynamic biped walking under unknown external force

Atsuo Takanishi, Tomoaki Takeya, Hideyuki Karaki, Ichiro Kato

Research output: Contribution to journalConference articlepeer-review

87 Citations (Scopus)

Abstract

In this paper, the authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, we performed walking experiments of real-time control with the biped walking robot WL-12RIII which had a newly developed real-time controller. The result was that the WL-12RIII realized a 0.64[s/step] dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100[N] and the time width was 0.3[s]. And the validity of this control method and the real-time controller was experimentally supported.

Original languageEnglish
Article number262498
Pages (from-to)795-801
Number of pages7
JournalIEEE International Conference on Intelligent Robots and Systems
Volume1990-July
DOIs
Publication statusPublished - 1990
Event1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, Japan
Duration: 1990 Jul 31990 Jul 6

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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