Title :
Attitude control experiments of biped walking robot based on environmental force interaction
Author :
Fujimoto, Yasutaka ; Kawamura, Atsuo
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
fDate :
29 Jun-1 Jul 1998
Abstract :
In this paper, the attitude control of the biped robot based on the robust reactive force control is proposed, which can locally suppresses the unknown disturbances on the terrain. The method is investigated through the experiments of the 14-axes biped robot. The position of the center of mass and the attitude of the body is well controlled within ±0.03 [m] and ±0.04 [rad] (=±2.3 [deg]) errors
Keywords :
attitude control; force control; legged locomotion; position control; robot dynamics; robust control; attitude control; biped walking robot; disturbance suppression; dynamics; environmental force interaction; position control; reactive force control; robust control; Attitude control; Control systems; Error correction; Foot; Force control; Leg; Legged locomotion; Orbital robotics; Robots; Robust control;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743472
