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 publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages4715-4720
Number of pages6
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

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

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  • Cite this

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