A control method for dynamic biped walking under unknown external force

Atsuo Takanishi, Tomoaki Takeya, Hideyuki Karaki, Ichiro Kato

研究成果: Conference article査読

87 被引用数 (Scopus)

抄録

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.

本文言語English
論文番号262498
ページ(範囲)795-801
ページ数7
ジャーナルIEEE International Conference on Intelligent Robots and Systems
1990-July
DOI
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 31990 7 6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 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

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