Title :
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
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;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570403
