Interactive control of environmental mode for biped walking

M. Morisawa, K. Ohnishi
{"title":"Interactive control of environmental mode for biped walking","authors":"M. Morisawa, K. Ohnishi","doi":"10.1109/IECON.2003.1280029","DOIUrl":null,"url":null,"abstract":"This paper describes a motion control method of a biped robot which has multiple contact points to environment. The biped robot is a mobile system that has contact and non-contact state repeatedly to environment. Hence, the position sensors, which measure the gap of the bottom foot and ground surface, are mounted on four corners of the foot. In addition, the environmental modes are quarried from the measured environmental information. However, these modes have to be compliant to environment due to the stability effect on biped robot. Thus, each foot motion tracks these modes. This proposed method provides very high extendibility. Basically, the environmental modes can be extended to the other contact tasks. Indeed, a robot can adapt itself to various environments. The validity of the proposed method is confirmed by the numerical simulation.","PeriodicalId":403239,"journal":{"name":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IECON.2003.1280029","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 16

Abstract

This paper describes a motion control method of a biped robot which has multiple contact points to environment. The biped robot is a mobile system that has contact and non-contact state repeatedly to environment. Hence, the position sensors, which measure the gap of the bottom foot and ground surface, are mounted on four corners of the foot. In addition, the environmental modes are quarried from the measured environmental information. However, these modes have to be compliant to environment due to the stability effect on biped robot. Thus, each foot motion tracks these modes. This proposed method provides very high extendibility. Basically, the environmental modes can be extended to the other contact tasks. Indeed, a robot can adapt itself to various environments. The validity of the proposed method is confirmed by the numerical simulation.
两足行走环境模式的交互控制
介绍了一种具有多环境接触点的双足机器人的运动控制方法。双足机器人是一种对环境具有反复接触和非接触状态的移动系统。因此,测量底部脚与地面间隙的位置传感器安装在脚的四个角上。此外,从实测的环境信息中求出了环境模态。然而,由于两足机器人的稳定性影响,这些模式必须适应环境。因此,每个脚的运动都跟踪这些模式。该方法具有很高的可扩展性。基本上,环境模式可以扩展到其他接触任务。事实上,机器人可以适应各种环境。数值仿真验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信