Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control

Yusuke Sugahara; Takuya Hosobata; Yutaka Mikuriya; Hun Ok Lim; Atsuo Takanishi

Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control

Yusuke Sugahara^*, Takuya Hosobata, Yutaka Mikuriya, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Contribution to conference › Paper › peer-review

19 Citations (Scopus)

Abstract

This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

Original language	English
Pages	595-600
Number of pages	6
Publication status	Published - 2003 Dec 26
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control. / Sugahara, Yusuke; Hosobata, Takuya; Mikuriya, Yutaka et al.

2003. 595-600 Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.

Research output: Contribution to conference › Paper › peer-review

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AU - Hosobata, Takuya

AU - Mikuriya, Yutaka

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2003/12/26

Y1 - 2003/12/26

N2 - This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

AB - This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

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T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control

Abstract

Conference

ASJC Scopus subject areas

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