可変速歩行のためのトルクリミットを考慮した2足歩行ロボットの歩容制御  [in Japanese] Biped Robot Control for Variable Speed Walking Considering Joint Torque Limit  [in Japanese]

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Author(s)

Abstract

One of the the important issues to drive bipedal robot is a limit of joint actuator. In case of a high-speed walking motion or the motion with heavy load, motor torque is saturated. To address this issue, this paper proposes a control strategy to avoid the torque saturation.<br>First, the walking pattern is generated according to the requred walking speed. Then the exaggerated torque is calcurated from the final torque reference and the estimated disturbance torque. Second, the generated walking pattern is modified so that the motor torque is not saturated.<br>The effectiveness of the proposed algorithm is confirmed by several results of simulation and experiment.

Journal

  • IEEJ Transactions on Industry Applications

    IEEJ Transactions on Industry Applications 122(5), 489-494, 2002-05-01

    The Institute of Electrical Engineers of Japan

References:  7

Cited by:  1

Codes

  • NII Article ID (NAID)
    10008218112
  • NII NACSIS-CAT ID (NCID)
    AN10012320
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    09136339
  • NDL Article ID
    6152776
  • NDL Source Classification
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL Call No.
    Z16-1608
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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