Title :
Proposal of biped walking control based on robust hybrid position/force control
Author :
Fujimoto, Yasutaka ; Kawamura, Atsuo
Author_Institution :
Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Abstract :
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
Keywords :
force control; hierarchical systems; legged locomotion; position control; biped walking control; contact force; hierarchical control; legged locomotion; robust hybrid position/force control; Acceleration; Control system synthesis; Control systems; Equations; Foot; Force control; Legged locomotion; Proposals; Robots; Robust control;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506574
