Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

Kenji Hashimoto, Yusuke Sugahara, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Nobutsuna Endo, Terumasa Sawato, Hun Ok Lim, Atsuo Takanishi

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

    15 Citations (Scopus)

    Abstract

    Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages1755-1760
    Number of pages6
    DOIs
    Publication statusPublished - 2006
    Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing
    Duration: 2006 Oct 92006 Oct 15

    Other

    Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
    CityBeijing
    Period06/10/906/10/15

    Fingerprint

    Compliance control
    Attitude control
    Landing
    Gravel roads
    Sensors
    Robots
    Experiments

    Keywords

    • Biped walking
    • Human-carrying robot
    • Pattern modification
    • Predictive attitude control
    • Uneven terrain

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Hashimoto, K., Sugahara, Y., Kawase, M., Ohta, A., Tanaka, C., Hayashi, A., ... Takanishi, A. (2006). Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. In IEEE International Conference on Intelligent Robots and Systems (pp. 1755-1760). [4058630] https://doi.org/10.1109/IROS.2006.282213

    Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. / Hashimoto, Kenji; Sugahara, Yusuke; Kawase, Masamiki; Ohta, Akihiro; Tanaka, Chiaki; Hayashi, Akihiro; Endo, Nobutsuna; Sawato, Terumasa; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. 2006. p. 1755-1760 4058630.

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

    Hashimoto, K, Sugahara, Y, Kawase, M, Ohta, A, Tanaka, C, Hayashi, A, Endo, N, Sawato, T, Lim, HO & Takanishi, A 2006, Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. in IEEE International Conference on Intelligent Robots and Systems., 4058630, pp. 1755-1760, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, 06/10/9. https://doi.org/10.1109/IROS.2006.282213
    Hashimoto K, Sugahara Y, Kawase M, Ohta A, Tanaka C, Hayashi A et al. Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 1755-1760. 4058630 https://doi.org/10.1109/IROS.2006.282213
    Hashimoto, Kenji ; Sugahara, Yusuke ; Kawase, Masamiki ; Ohta, Akihiro ; Tanaka, Chiaki ; Hayashi, Akihiro ; Endo, Nobutsuna ; Sawato, Terumasa ; Lim, Hun Ok ; Takanishi, Atsuo. / Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 1755-1760
    @inproceedings{80830c9758a34e07ac7020baa22f68fb,
    title = "Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain",
    abstract = "Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.",
    keywords = "Biped walking, Human-carrying robot, Pattern modification, Predictive attitude control, Uneven terrain",
    author = "Kenji Hashimoto and Yusuke Sugahara and Masamiki Kawase and Akihiro Ohta and Chiaki Tanaka and Akihiro Hayashi and Nobutsuna Endo and Terumasa Sawato and Lim, {Hun Ok} and Atsuo Takanishi",
    year = "2006",
    doi = "10.1109/IROS.2006.282213",
    language = "English",
    isbn = "142440259X",
    pages = "1755--1760",
    booktitle = "IEEE International Conference on Intelligent Robots and Systems",

    }

    TY - GEN

    T1 - Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

    AU - Hashimoto, Kenji

    AU - Sugahara, Yusuke

    AU - Kawase, Masamiki

    AU - Ohta, Akihiro

    AU - Tanaka, Chiaki

    AU - Hayashi, Akihiro

    AU - Endo, Nobutsuna

    AU - Sawato, Terumasa

    AU - Lim, Hun Ok

    AU - Takanishi, Atsuo

    PY - 2006

    Y1 - 2006

    N2 - Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

    AB - Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

    KW - Biped walking

    KW - Human-carrying robot

    KW - Pattern modification

    KW - Predictive attitude control

    KW - Uneven terrain

    UR - http://www.scopus.com/inward/record.url?scp=34250656905&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=34250656905&partnerID=8YFLogxK

    U2 - 10.1109/IROS.2006.282213

    DO - 10.1109/IROS.2006.282213

    M3 - Conference contribution

    SN - 142440259X

    SN - 9781424402595

    SP - 1755

    EP - 1760

    BT - IEEE International Conference on Intelligent Robots and Systems

    ER -