Title :
Experimental study of walking motion stabilization for biped robot with flexible ankle joints
Author :
Oda, Naoki ; Ito, Masanori
Author_Institution :
Dept. of Opto-Electron. Syst. Eng., Chitose Inst. of Sci. & Technol., Chitose, Japan
Abstract :
This paper describes an approach of motion stabilization for biped robots with flexible ankle joints. The flexible joints cause the resonant oscillation under conventional control. In our approach, the deviated center of gravity (COG) due to the ankle´s deflections is measured in real-time by laser distance sensor mounted on the hip. Assuming the two mass model at COG, the equivalent reaction force relating to COG deviation is used as feedback signal for vibration control. At the same time, the influence of the response delay and yaw moment while walking is suppressed by the proposed motion regulator for posture stabilization. The proposed walking motion controller is evaluated experimentally under the walking pattern based on the inverted pendulum model without double support phase. The experimental results show the importance of the posture regulation in addition to the COG control.
Keywords :
legged locomotion; motion control; pendulums; stability; vibration control; COG control; COG deviation; ankle deflection; biped robot; center of gravity; double support phase; equivalent reaction force; feedback signal; flexible ankle joints; inverted pendulum model; laser distance sensor; motion regulator; posture regulation; posture stabilization; resonant oscillation; response delay; vibration control; walking motion controller; walking motion stabilization; yaw moment; Force feedback; Force sensors; Gravity; Hip; Laser feedback; Laser modes; Legged locomotion; Measurement by laser beam; Resonance; Robot sensing systems;
Conference_Titel :
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location :
Porto
Print_ISBN :
978-1-4244-4648-3
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2009.5415078