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: Solutions 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
    Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul
    Duration: 2009 Sep 92009 Sep 11

    Other

    Other12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
    CityIstanbul
    Period09/9/909/9/11

    Fingerprint

    Landing
    Robots
    Attitude control
    Simulators
    Compensation and Redress
    Sensors

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    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)

    Attitude compensation control for biped humanoid robot. / Kang, Hyun Jin; Momoki, Shimpei; Kondo, Hideki; Hashimoto, Kenji; Lim, Hun Ok; Takanishi, Atsuo.

    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. 2010. p. 677-684.

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

    Kang, HJ, Momoki, S, Kondo, H, Hashimoto, K, Lim, HO & 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, 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009, Istanbul, 09/9/9.
    Kang HJ, Momoki S, Kondo H, Hashimoto K, Lim HO, Takanishi A. 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. 2010. p. 677-684
    Kang, Hyun Jin ; Momoki, Shimpei ; Kondo, Hideki ; Hashimoto, Kenji ; Lim, Hun Ok ; Takanishi, Atsuo. / Attitude compensation control for biped humanoid robot. 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. 2010. pp. 677-684
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