Static and dynamic disturbance compensation control for a biped walking vehicle

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

研究成果: Conference contribution

16 被引用数 (Scopus)

抄録

This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid disturbance changes. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg - No. 16 Refined V (WL-16RV) realized a stable dynamic walk under unknown external disturbances caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.

本文言語English
ホスト出版物のタイトルProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
ページ457-462
ページ数6
DOI
出版ステータスPublished - 2008 12 1
イベント2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
継続期間: 2008 10 192008 10 22

出版物シリーズ

名前Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Conference

Conference2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
国/地域United States
CityScottsdale, AZ
Period08/10/1908/10/22

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 生体医工学

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