Walking despite the passive compliance: Techniques for using conventional pattern generators to control instrinsically compliant humanoid robots

P. Kryczka, K. Hashimoto, A. Takanishi, H. O. Lim, P. Kormushev, N. G. Tsagarakis, D. G. Caldwell

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

There are several problems which arise when using a standard ZMP-based pattern generator to control an intrinsically compliant humanoid robot like COMAN. We present two techniques: pelvis forward trajectory smoothing and polynomial admittance gain modulation, which make it possible to use the conventional pattern generator to control such passively compliant robots. The former method modifies the reference of the pelvis trajectory to counteract its overshooting caused by the compliance of the legs. The latter method is meant to decrease the impact during initial contact and decrease the error between the foot position and original reference during the mid-stance caused by the use of admittance control. We explain details of both of the methods and show results from walking experiments with and without the controls, proving their effectiveness.

本文言語English
ホスト出版物のタイトルNature-Inspired Mobile Robotics
ホスト出版物のサブタイトルProceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
ページ487-494
ページ数8
出版ステータスPublished - 2013 12 1
イベント16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013 - Sydney, NSW, Australia
継続期間: 2013 7 142013 7 17

出版物シリーズ

名前Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013

Conference

Conference16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013
国/地域Australia
CitySydney, NSW
Period13/7/1413/7/17

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用

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