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: Solutions 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
    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

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    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    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)