Impact Force Suppression for Redundant Legged Biped Robot Based on Unified Decoupling Control Method

• Shibata Masaaki

  Dept. of Electrical Engineering and Electronics, Seikei University

• Tasaki Go

  Dept. of Electrical Engineering and Electronics, Graduate School of Engineering, Seikei University

• Natori Takeshi

  Dept. of Electrical Engineering and Electronics, Graduate School of Engineering, Seikei University

Bibliographic Information

Other Title

• 非干渉統合制御に基づく冗長双脚ロボットの着地衝撃力低減
• ヒカンショウ トウゴウ セイギョ ニ モトヅク ジョウチョウソウキャク ロボット ノ チャクチ ショウゲキリョク テイゲン

Abstract

A swinging leg of a biped robot landing, impact force usually occurs between the sole and the ground, and then it causes instability of the gait. The paper describes the advantages of adopting redundant legs to the robot in order to conquer the difficulty, and proposes a novel way of the motion control for the redundant legged biped robot.<BR>In general, each leg of a conventional biped robot consists of 3 joints, namely, hip, knee and ankle in the sagittal plane. On the other hand, the proposed robot has been added extra joints, and thereby has redundancy in terms of degrees-of-freedom. Since the redundant leg can select its arbitrary posture, regardless of the tip position, the structure enables to move the position of the center of mass (COM) of the leg independently. The impact force is suppressed by controlling the COM acceleration of the landing leg. In order to achieve the decoupled motions between the tip and the COM, the unified decoupling controller is introduced. The controller includes three types of the disturbance observers together, and both desired motions are realized consequently. The validity of the proposed approach is confirmed in physical experimental results.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 123 (6), 703-709, 2003

  The Institute of Electrical Engineers of Japan

Keywords

• Biped Robot
• Biped Locomotion
• Redundant Leg
• Impact Force
• Unified Decoupling Control

Details

• CRID: 1390282679633128576
• NII Article ID: 130000084732
• NII Article ID: 10012557434
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.123.703
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 6545743
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6545743
• Web Site: http://www.jstage.jst.go.jp/article/ieejias/123/6/123_6_703/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed