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 language | English |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Pages | 174-179 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2009 |
| Event | 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore Duration: 2009 Jul 14 → 2009 Jul 17 |
Other
| Other | 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 |
|---|---|
| City | Singapore |
| Period | 09/7/14 → 09/7/17 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Terrain-adaptive control to reduce landing impact force for human-carrying biped robot
AU - Hashimoto, Kenji
AU - Hayashi, Akihiro
AU - Sawato, Terumasa
AU - Yoshimura, Yuki
AU - Asano, Teppei
AU - Hattori, Kentaro
AU - Sugahara, Yusuke
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=70350482889&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350482889&partnerID=8YFLogxK
U2 - 10.1109/AIM.2009.5230020
DO - 10.1109/AIM.2009.5230020
M3 - Conference contribution
AN - SCOPUS:70350482889
SN - 9781424428533
SP - 174
EP - 179
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ER -