Disturbance avoidance control from environments for a biped walking vehicle

Kenji Hashimotot, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Hun Ok Lim, Atsuo Takanishi

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

Abstract

This paper describes a disturbance avoidance control from environments 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 to generate an avoidance behavior. To guarantee a walking stability against external forces. a compensation motion around a reference ZMP is generated. Then, external forces are estimated from ZMP errors. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments.

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
Pages607-614
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

    Hashimotot, K., Sawato, T., Hayashi, A., Yoshimura, Y., Asano, T., Lim, H. O., & Takanishi, A. (2010). Disturbance avoidance control from environments for a biped walking vehicle. 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. 607-614). (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).