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
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;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509413
