DocumentCode
2191698
Title
Robust biped walking with active interaction control between robot and environment
Author
Fujimoto, Yasutaka ; Kawamura, Atsuo
Author_Institution
Div. of Electr. & Comput. Eng., Yokohama Nat. Univ., Japan
Volume
1
fYear
1996
fDate
18-21 Mar 1996
Firstpage
247
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; robust control; 19-axis simulation model; active interaction control; contact force stabilization; force control; hierarchical control; legged locomotion; robot; robust biped walking; stable walking; Acceleration; Control system synthesis; Control systems; Equations; Foot; Force control; Legged locomotion; Postal services; Robot control; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location
Mie
Print_ISBN
0-7803-3219-9
Type
conf
DOI
10.1109/AMC.1996.509413
Filename
509413
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