Unknown disturbance compensation control for a biped walking vehicle

Kenji Hashimoto, Yusuke Sugahara, Chiaki Tanaka, Akihiro Ohta, Kentaro Hattori, Terumasa Sawato, Akihiro Hayashi, Hun Ok Lim, Atsuo Takanishi

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

    11 Citations (Scopus)

    Abstract

    This paper describes how to compensate unknown external forces caused by a rider's motion of a biped walking vehicle. When external forces act on a robot's waist, the waist is accelerated so that a measured ZMP may be equal to a reference ZMP. To inhibit the divergence of the waist motion, the reference ZMP is varied inside a support polygon. However, if a large external force acts on a robot, the waist trajectory does not converge by only controlling a reference ZMP. So, ZMP trajectory is varied by changing a foot-landing point. Using the proposed control method, WL-16RIV (Waseda Leg - No.16 Refined IV) achieved a stable human-carrying walking under unknown external forces which exert forward and sideways on the robot's waist. Through various walking experiments, the effectiveness of the proposed method was confirmed.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Pages2204-2209
    Number of pages6
    DOIs
    Publication statusPublished - 2007
    Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA
    Duration: 2007 Oct 292007 Nov 2

    Other

    Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
    CitySan Diego, CA
    Period07/10/2907/11/2

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    Keywords

    • Biped walking
    • Biped walking vehicle
    • Disturbance compensation control
    • Human-carrying robot

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Hashimoto, K., Sugahara, Y., Tanaka, C., Ohta, A., Hattori, K., Sawato, T., Hayashi, A., Lim, H. O., & Takanishi, A. (2007). Unknown disturbance compensation control for a biped walking vehicle. In IEEE International Conference on Intelligent Robots and Systems (pp. 2204-2209). [4399285] https://doi.org/10.1109/IROS.2007.4399285