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

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

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

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