Disturbance Force Generator for Biped Robots

Kenji Hashimoto, Kosuke Nishikawa, Juri Shimizu, Aiman Omer, Hun ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingChapter

    Abstract

    This paper describes the mechanism and control of a disturbance force generator that is able to evaluate disturbance compensation control of biped robots quantitatively. The disturbance generator consists of a base, a motor drive system and a suspension system. In order to apply a disturbance force to a biped humanoid robot, a wire wound on a pulley of the disturbance generator is connected with robot’s waist. The effectiveness of the disturbance force generator is verified through several disturbance experiments.

    Original languageEnglish
    Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
    PublisherSpringer International Publishing
    Pages267-274
    Number of pages8
    DOIs
    Publication statusPublished - 2016 Jan 1

    Publication series

    NameCISM International Centre for Mechanical Sciences, Courses and Lectures
    Volume569
    ISSN (Print)0254-1971
    ISSN (Electronic)2309-3706

    Keywords

    • Biped robot
    • Disturbance force generator
    • Humanoid robot

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

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  • Cite this

    Hashimoto, K., Nishikawa, K., Shimizu, J., Omer, A., Lim, H. O., & Takanishi, A. (2016). Disturbance Force Generator for Biped Robots. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 267-274). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_30