Title :
Walking mode shifting control from biped standing to quadruped walking for a gorilla robot
Author :
Weiguo, Wu ; Hasegawa, Yasuhisa ; Fukuda, Toshio
Author_Institution :
Dept. of Micro Syst. Eng., Nagoya Univ., Japan
Abstract :
A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method
Keywords :
digital simulation; legged locomotion; motion control; robot kinematics; DADS; Simulink; ZMP control; biped standing; foreleg grounding force; gorilla robot; inverse kinematics; legged locomotion; locomotion modes; motion control; quadruped walking; self-motion; walking mode shifting control; zero moment point control; Character generation; Control systems; Force control; Humanoid robots; Leg; Legged locomotion; Motion control; Robot kinematics; Robot sensing systems; Robotics and automation;
Conference_Titel :
SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7306-5
DOI :
10.1109/SICE.2001.977820
