Contact motion in unknown environment

This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the prospect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.