Walking Control Method of Biped Locomotors on Inclined Plane

Author

Sugahara, Yusuke ; Mikuriya, Yutaka ; Hashimoto, Kenji ; Hosobata, Takuya ; Sunazuka, Hiroyuki ; Kawase, Masamiki ; Lim, Hun-ok ; Takanishi, Atsuo

Author_Institution

Graduate School of Science and Engineering Waseda University Tokyo, JAPAN Email: sugahara@suou.waseda.jp

fYear

2005

fDate

18-22 April 2005

Firstpage

1977

Lastpage

1982

Abstract

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.

Keywords

Bipedal Locomotor; Inclined plane; Posture Control; Virtual Compliance Control; Cities and towns; Crawlers; Foot; Humanoid robots; Leg; Legged locomotion; Mobile robots; Position control; Robotics and automation; Wheels; Bipedal Locomotor; Inclined plane; Posture Control; Virtual Compliance Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570403

Filename

1570403