Terrain-adaptive control to reduce landing impact force for human-carrying biped robot

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

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

    14 Citations (Scopus)

    Abstract

    Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be used for human-carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot landing impact increased when a walking cycle was short. So, we propose a new terrain-adaptive control reducing a landing-impact force. To increase a concave terrain adaptation, we set a target landing position beneath a reference level. To reduce the landing-impact force, we change the position gain control value to a small value at a swing phase. Moreover, we set landing-foot speed at zero when the foot landing is detected by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is applied along the vertical direction after detecting a foot-landing on a ground, and a virtual compliance control is applied to the roll and pitch axes. In a stable walk while carrying a 65 kg human on uneven terrain, the new control method decreased the landing-impact force than the previous terrain-adaptive control.

    Original languageEnglish
    Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages174-179
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore
    Duration: 2009 Jul 142009 Jul 17

    Other

    Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
    CitySingapore
    Period09/7/1409/7/17

    Fingerprint

    Landing
    Robots
    Compliance control
    Acceleration control
    Gain control
    Position control
    Mechanics
    Sensors

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

    Cite this

    Hashimoto, K., Hayashi, A., Sawato, T., Yoshimura, Y., Asano, T., Hattori, K., ... Takanishi, A. (2009). Terrain-adaptive control to reduce landing impact force for human-carrying biped robot. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 174-179). [5230020] https://doi.org/10.1109/AIM.2009.5230020

    Terrain-adaptive control to reduce landing impact force for human-carrying biped robot. / Hashimoto, Kenji; Hayashi, Akihiro; Sawato, Terumasa; Yoshimura, Yuki; Asano, Teppei; Hattori, Kentaro; Sugahara, Yusuke; Lim, Hun Ok; Takanishi, Atsuo.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 174-179 5230020.

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

    Hashimoto, K, Hayashi, A, Sawato, T, Yoshimura, Y, Asano, T, Hattori, K, Sugahara, Y, Lim, HO & Takanishi, A 2009, Terrain-adaptive control to reduce landing impact force for human-carrying biped robot. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5230020, pp. 174-179, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, 09/7/14. https://doi.org/10.1109/AIM.2009.5230020
    Hashimoto K, Hayashi A, Sawato T, Yoshimura Y, Asano T, Hattori K et al. Terrain-adaptive control to reduce landing impact force for human-carrying biped robot. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 174-179. 5230020 https://doi.org/10.1109/AIM.2009.5230020
    Hashimoto, Kenji ; Hayashi, Akihiro ; Sawato, Terumasa ; Yoshimura, Yuki ; Asano, Teppei ; Hattori, Kentaro ; Sugahara, Yusuke ; Lim, Hun Ok ; Takanishi, Atsuo. / Terrain-adaptive control to reduce landing impact force for human-carrying biped robot. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. pp. 174-179
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