Avoidance behavior from external forces for biped vehicle

Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun Ok Lim, Atsuo Takanishi

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

    5 Citations (Scopus)

    Abstract

    This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400 mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages4715-4720
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK
    Duration: 2010 May 32010 May 7

    Other

    Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    CityAnchorage, AK
    Period10/5/310/5/7

    Fingerprint

    Robots
    Landing
    Trajectories
    Sensors
    Experiments

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Hashimoto, K., Sawato, T., Hayashi, A., Yoshimura, Y., Asano, T., Hattori, K., ... Takanishi, A. (2010). Avoidance behavior from external forces for biped vehicle. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4715-4720). [5509390] https://doi.org/10.1109/ROBOT.2010.5509390

    Avoidance behavior from external forces for biped vehicle. / Hashimoto, Kenji; Sawato, Terumasa; Hayashi, Akihiro; Yoshimura, Yuki; Asano, Teppei; Hattori, Kentaro; Sugahara, Yusuke; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 4715-4720 5509390.

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

    Hashimoto, K, Sawato, T, Hayashi, A, Yoshimura, Y, Asano, T, Hattori, K, Sugahara, Y, Lim, HO & Takanishi, A 2010, Avoidance behavior from external forces for biped vehicle. in Proceedings - IEEE International Conference on Robotics and Automation., 5509390, pp. 4715-4720, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509390
    Hashimoto K, Sawato T, Hayashi A, Yoshimura Y, Asano T, Hattori K et al. Avoidance behavior from external forces for biped vehicle. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 4715-4720. 5509390 https://doi.org/10.1109/ROBOT.2010.5509390
    Hashimoto, Kenji ; Sawato, Terumasa ; Hayashi, Akihiro ; Yoshimura, Yuki ; Asano, Teppei ; Hattori, Kentaro ; Sugahara, Yusuke ; Lim, Hun Ok ; Takanishi, Atsuo. / Avoidance behavior from external forces for biped vehicle. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 4715-4720
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