Avoidance behavior from external forces for biped vehicle

Kenji Hashimoto*, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400 mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ4715-4720
ページ数6
DOI
出版ステータスPublished - 2010
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5月 32010 5月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域United States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Avoidance behavior from external forces for biped vehicle」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル