DocumentCode :
3248875
Title :
Terrain-adaptive control to reduce landing impact force for human-carrying biped robot
Author :
Hashimoto, Kenji ; Hayashi, Akihiro ; Sawato, Terumasa ; Yoshimura, Yuki ; Asano, Teppei ; Hattori, Kentaro ; Sugahara, Yusuke ; Lim, Hun-ok ; Takanishi, Atsuo
Author_Institution :
Grad. Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan
fYear :
2009
fDate :
14-17 July 2009
Firstpage :
174
Lastpage :
179
Abstract :
Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be used for human carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot landing impact increased when a walking cycle was short. So, we propose a new terrain adaptive control reducing a landing impact force. To increase a concave terrain adaptation, we set a target landing position beneath a reference level. To reduce the landing impact force, we change the position gain control value to a small value at a swing phase. Moreover, we set landing foot speed at zero when the foot landing is detected by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is applied along the vertical direction after detecting a foot landing on a ground, and a virtual compliance control is applied to the roll and pitch axes. In a stable walk while carrying a 65 kg human on uneven terrain, the new control method decreased the landing-impact force than the previous terrain adaptive control.
Keywords :
acceleration control; adaptive control; force control; legged locomotion; motion control; position control; human carrying biped robot; landing impact force reduction; position gain control; terrain adaptive control; virtual compliance control; virtual spring; walking stability control; Acceleration; Adaptive control; Error correction; Foot; Force control; Force sensors; Humans; Legged locomotion; Robot control; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
Type :
conf
DOI :
10.1109/AIM.2009.5230020
Filename :
5230020
Link To Document :
بازگشت