基于机器人与环境主动交互控制的鲁棒双足步行

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509413

Y. Fujimoto, A. Kawamura

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引用次数: 8

摘要

提出了一种基于力控制的双足行走控制方法。所提出的控制系统可以在所提出的限制条件下稳定脚与地面之间的接触力。在此基础上，提出了一种分层控制方法，实现了机器人的腿式运动。将所提出的控制系统应用于19轴仿真模型，得到了稳定行走的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robust biped walking with active interaction control between robot and environment

This paper describes a novel biped walking control based on a force control. The proposed control system can stabilize the contact force between the foot and the ground under the proposed restrictions. As a result, a hierarchical control is proposed, by which the legged locomotion can be realized. The proposed control system is applied to the 19 axes simulation model and the results of stable walking are shown.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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