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

16 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 publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages174-179
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09/7/1409/7/17

ASJC Scopus subject areas

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

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