Attitude compensation control for biped humanoid robot

Hyun Jin Kang, Shimpei Momoki, Hideki Kondo, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We have developed a biped humanoid robot, W ABIAN-2R as a human motion simulator. However, it was difficult to walk stably on terrain with unevenness of several millimeters. So, we propose an attitude compensation control and a landing pattern modification control (LPMC) to deal with uneven terrain. The LPMC modifies the motion of the landing foot according to the ground surface while the attitude control compensates posture angles of the body based on the 3-axis gyro sensor's data. By integrating two controls, WABIAN-2R is able to walk on outdoor terrain with 5 degree inclination slope and height variations of several millimeters.

Original languageEnglish
Title of host publicationMobile Robotics
Subtitle of host publicationSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
Pages677-684
Number of pages8
Publication statusPublished - 2010 Dec 1
Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul, Turkey
Duration: 2009 Sep 92009 Sep 11

Publication series

NameMobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
CountryTurkey
CityIstanbul
Period09/9/909/9/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Kang, H. J., Momoki, S., Kondo, H., Hashimoto, K., Lim, H. O., & Takanishi, A. (2010). Attitude compensation control for biped humanoid robot. In Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 (pp. 677-684). (Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009).