Title :
A static balance control under periodic external force
Author :
Ito, Satoshi ; Aoyama, Yoshihiro ; Kawasaki, Harushisa
Author_Institution :
Fac. of Eng., Gifu Univ., Japan
Abstract :
In this paper, we present a control method of upright posture of biped model under periodic external forces with known period. First, the upright posture is maintained based on the feedback of ground reaction forces. However, being exposed to such a stationary condition for a while, external forces are estimated using the framework of adaptive control. Consequently, the balance maintenance is achieved without feedback of ground reaction forces.
Keywords :
adaptive control; force feedback; legged locomotion; motion control; position control; adaptive control; biped model; ground reaction forces feedback; periodic external force; posture control; static balance control;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
