Walking control method of biped locomotors on inclined plane

Yusuke Sugahara*, Yutaka Mikuriya, Kenji Hashimoto, Takuya Hosobata, Hiroyuki Sunazuka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

24 被引用数 (Scopus)

抄録

This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No-16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.

本文言語English
ホスト出版物のタイトルProceedings of the 2005 IEEE International Conference on Robotics and Automation
ページ1977-1982
ページ数6
DOI
出版ステータスPublished - 2005
イベント2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
継続期間: 2005 4 182005 4 22

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2005
ISSN(印刷版)1050-4729

Conference

Conference2005 IEEE International Conference on Robotics and Automation
国/地域Spain
CityBarcelona
Period05/4/1805/4/22

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

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