書誌事項
- タイトル別名
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- 2P1-B17 Development of Bipedal Locomotor with Parallel Mechanism : 18th Report: Static Disturbance Compensation Control for a Biped Walking Vehicle
抄録
This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and movements caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When a small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When a large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid changes of external forces. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg-No. 16 Refined V (WL-16RV) realized a stable walk under unknown external forces caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2009 (0), _2P1-B17_1-_2P1-B17_4, 2009
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205933753088
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- NII論文ID
- 110008698447
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可