Terrain-adaptive control to reduce landing impact force for human-carrying biped robot

Kenji Hashimoto*, Akihiro Hayashi, Terumasa Sawato, 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

17 被引用数 (Scopus)

抄録

Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be used for human-carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot landing impact increased when a walking cycle was short. So, we propose a new terrain-adaptive control reducing a landing-impact force. To increase a concave terrain adaptation, we set a target landing position beneath a reference level. To reduce the landing-impact force, we change the position gain control value to a small value at a swing phase. Moreover, we set landing-foot speed at zero when the foot landing is detected by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is applied along the vertical direction after detecting a foot-landing on a ground, and a virtual compliance control is applied to the roll and pitch axes. In a stable walk while carrying a 65 kg human on uneven terrain, the new control method decreased the landing-impact force than the previous terrain-adaptive control.

本文言語English
ホスト出版物のタイトル2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
ページ174-179
ページ数6
DOI
出版ステータスPublished - 2009 11 4
イベント2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
継続期間: 2009 7 142009 7 17

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
国/地域Singapore
CitySingapore
Period09/7/1409/7/17

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 サイエンスの応用
  • 電子工学および電気工学

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