DocumentCode :
2616215
Title :
Reactive biped walking control for a collision of a swinging foot on uneven terrain
Author :
Morisawa, Mitsuharu ; Kanehiro, Fumio ; KANEKO, Kenji ; Kajita, Shuuji ; Yokoi, Kazuhiro
Author_Institution :
Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan
fYear :
2011
fDate :
26-28 Oct. 2011
Firstpage :
768
Lastpage :
773
Abstract :
This paper describes a biped walking control method for a collision of a swinging foot on uneven terrain. Because a swing leg moves to a desired landing position, an unexpected collision on a terrain may be happened by a distance error between a foot and a terrain. A swing foot has to not only absorb a impact force, but also changes a trajectory as long as a swing foot contacts on a terrain. Furthermore it is required to keep a balance against a contact force. To prevent a trip over and a losing balance by contact on a terrain, two reactive key components are installed: 1) Set appropriate impedance gains of the feet according to a walking phase, 2) Update the desired landing position to the COG (Center of Gravity) pattern generation immediately as a detecting/releasing contact. In this paper, focused on a swing motion, a robust biped walking with a collision of a swinging foot on a uneven terrain is realized. The proposed method is validated through simulation results with the HRP-2 humanoid robot.
Keywords :
humanoid robots; legged locomotion; motion control; robust control; COG; HRP-2 humanoid robot; reactive biped walking control method; robust biped walking; swinging foot; Foot; Force; Force control; Legged locomotion; Torque; Trajectory; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on
Conference_Location :
Bled
ISSN :
2164-0572
Print_ISBN :
978-1-61284-866-2
Electronic_ISBN :
2164-0572
Type :
conf
DOI :
10.1109/Humanoids.2011.6100885
Filename :
6100885
Link To Document :
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