A Control Method Based on Modal Transformation for Biped Robots to Climb Unknown Steps

• Shimmyo Shuhei

  Department of System Design Engineering, Keio University

• Nakazato Miki

  Department of System Design Engineering, Keio University

• Mikami Kei

  Department of System Design Engineering, Keio University

• Sato Tomoya

  Department of System Design Engineering, Keio University

• Sakaino Sho

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Bibliographic Information

Other Title

• モード変換に基づいた2足歩行ロボットの未知段差における歩行制御
• モード ヘンカン ニ モトズイタ 2ソク ホコウ ロボット ノ ミチ ダンサ ニ オケル ホコウ セイギョ

Abstract

This paper proposes a control method based on modal transformation for biped robots to climb unknown steps. This method is able to control the foot position of the biped robot and the ground reaction force acting in vertical direction when the biped robot climbs unknown steps in a double-support phase. The effectiveness of the proposed method is confirmed by simulation and experimental results.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 130 (4), 468-476, 2010

  The Institute of Electrical Engineers of Japan

Keywords

• biped robot
• unknown steps
• modal transformation
• ZMP

Details

• CRID: 1390001204657277568
• NII Article ID: 10026230250
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.130.468
• BIBCODE: 2010IJTIA.130..468S
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10649624
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10649624
• Web Site: https://www.jstage.jst.go.jp/article/ieejias/130/4/130_4_468/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed