Disturbance avoidance control from environments for a biped walking vehicle

Kenji Hashimotot, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Hun Ok Lim, Atsuo Takanishi

研究成果: Conference contribution

抄録

This paper describes a disturbance avoidance control from environments 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 to generate an avoidance behavior. To guarantee a walking stability against external forces. a compensation motion around a reference ZMP is generated. Then, external forces are estimated from ZMP errors. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments.

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607-614
ページ数8
出版ステータスPublished - 2010
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
国/地域Turkey
CityIstanbul
Period09/9/909/9/11

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

フィンガープリント

「Disturbance avoidance control from environments for a biped walking 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