Attitude compensation control for biped humanoid robot

Hyun Jin Kang, Shimpei Momoki, Hideki Kondo, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

We have developed a biped humanoid robot, W ABIAN-2R as a human motion simulator. However, it was difficult to walk stably on terrain with unevenness of several millimeters. So, we propose an attitude compensation control and a landing pattern modification control (LPMC) to deal with uneven terrain. The LPMC modifies the motion of the landing foot according to the ground surface while the attitude control compensates posture angles of the body based on the 3-axis gyro sensor's data. By integrating two controls, WABIAN-2R is able to walk on outdoor terrain with 5 degree inclination slope and height variations of several millimeters.

本文言語English
ホスト出版物のタイトルMobile Robotics
ホスト出版物のサブタイトルSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
ページ677-684
ページ数8
出版ステータスPublished - 2010 12 1
イベント12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 - Istanbul, Turkey
継続期間: 2009 9 92009 9 11

出版物シリーズ

名前Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
CountryTurkey
CityIstanbul
Period09/9/909/9/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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