Terrain-adaptive control with small landing impact force for biped vehicle

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

8 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 applied to 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 speed became fast. So, we propose a new terrain-adaptive control that can reduce 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 after detecting a foot-landing by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is installed to 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/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages2922-2927
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems 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 with small landing impact force for biped vehicle. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 2922-2927). [5354517] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354517