Biped landing pattern modification method with nonlinear compliance control

Kenji Hashimoto, Yusuke Sugahara, Hiroyuki Sunazuka, Chiaki Tanaka, Akihiro Ohta, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

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

37 Citations (Scopus)

Abstract

Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1213-1218
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

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Keywords

  • Biped walking
  • Bipedal locomotor
  • Human-carrying robot
  • Nonlinear compliance control
  • Pattern modification
  • Uneven terrain

ASJC Scopus subject areas

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

Cite this

Hashimoto, K., Sugahara, Y., Sunazuka, H., Tanaka, C., Ohta, A., Kawase, M., Lim, H. O., & Takanishi, A. (2006). Biped landing pattern modification method with nonlinear compliance control. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1213-1218). [1641874] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641874