DocumentCode
1919731
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
Volume
3
fYear
1996
fDate
22-28 Apr 1996
Firstpage
2724
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506574
Filename
506574
Link To Document