Static and dynamic disturbance compensation control for a biped walking vehicle

Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun Ok Lim, Atsuo Takanishi

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

15 Citations (Scopus)

Abstract

This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid disturbance changes. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg - No. 16 Refined V (WL-16RV) realized a stable dynamic walk under unknown external disturbances caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.

Original languageEnglish
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages457-462
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: 2008 Oct 192008 Oct 22

Publication series

NameProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Conference

Conference2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period08/10/1908/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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  • Cite this

    Hashimoto, K., Sawato, T., Hayashi, A., Yoshimura, Y., Asano, T., Hattori, K., Sugahara, Y., Lim, H. O., & Takanishi, A. (2008). Static and dynamic disturbance compensation control for a biped walking vehicle. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 457-462). [4762844] (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762844