Compliance control for biped locomotion robot

Author

Kawaji, Shigeyasu ; Ogasawara, Ken´ichi ; Iimori, J. ; Yamada, Shuichi

Author_Institution

Dept. of Comput. Sci., Kumamoto Univ., Japan

Volume

4

fYear

1997

fDate

12-15 Oct 1997

Firstpage

3801

Abstract

Biped locomotion is a periodic motion governed by a characteristic rhythm. Authors have pointed out the necessity of the regularity of the rhythm for stable walking, and have proposed the control method for the robot based on the locomotion rhythm. In this paper, to realize stable walking even in an environment with uncertainties, the concept of compliance is introduced into the locomotion control scheme. Some simulations and experiments show that the stable walking can be realized in the real environment

Keywords

compliance control; legged locomotion; motion control; stability; uncertain systems; biped locomotion robot; characteristic rhythm; compliance control; control method; experiments; locomotion control; locomotion rhythm; periodic motion; regularity; simulations; stable walking; uncertainties; Centralized control; Control systems; Leg; Legged locomotion; Motion control; Nonlinear control systems; Rhythm; Robots; Servomechanisms; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.633262

Filename

633262