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

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

    18 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 languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages595-600
    Number of pages6
    Volume1
    Publication statusPublished - 2003
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV
    Duration: 2003 Oct 272003 Oct 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CityLas Vegas, NV
    Period03/10/2703/10/31

    Fingerprint

    Compliance control
    Position control
    Landing
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Sugahara, Y., Hosobata, T., Mikuriya, Y., Lim, H. O., & Takanishi, A. (2003). Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 595-600)

    Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control. / Sugahara, Yusuke; Hosobata, Takuya; Mikuriya, Yutaka; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. p. 595-600.

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

    Sugahara, Y, Hosobata, T, Mikuriya, Y, Lim, HO & Takanishi, A 2003, Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, pp. 595-600, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, 03/10/27.
    Sugahara Y, Hosobata T, Mikuriya Y, Lim HO, Takanishi A. Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control. In IEEE International Conference on Intelligent Robots and Systems. Vol. 1. 2003. p. 595-600
    Sugahara, Yusuke ; Hosobata, Takuya ; Mikuriya, Yutaka ; Lim, Hun Ok ; Takanishi, Atsuo. / Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control. IEEE International Conference on Intelligent Robots and Systems. Vol. 1 2003. pp. 595-600
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