Title :
A control method for dynamic biped walking under unknown external force
Author :
Takanishi, Atsuo ; Takeya, Tomoaki ; Karaki, Hideyuki ; Kato, Ichiro
Author_Institution :
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
Abstract :
The authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, they perform walking experiments of real-time control with the biped walking robot WL-12RIII which has a newly developed real-time controller. The result shows that the WL-12RIII realized a 0.64[s/step] dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100[N] and the time width was 0.3[s]. And the validity of this control method and the real-time controller was experimentally supported
Keywords :
force control; mobile robots; position control; real-time systems; WL-12RIII; dynamic biped walking robot; force control; mobile robots; motion control; position control; real-time control; unknown external force; Computer simulation; Force control; Legged locomotion; Motion control; Shape control;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262498
