In this paper, the authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, we performed walking experiments of real-time control with the biped walking robot WL-12RIII which had a newly developed real-time controller. The result was that the WL-12RIII realized a 0.64[s/step] dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100[N] and the time width was 0.3[s]. And the validity of this control method and the real-time controller was experimentally supported.
|ジャーナル||IEEE International Conference on Intelligent Robots and Systems|
|出版ステータス||Published - 1990|
|イベント||1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, Japan|
継続期間: 1990 7月 3 → 1990 7月 6
ASJC Scopus subject areas
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用