Realization of stable dynamic walking by a parallel bipedal locomotor on uneven terrain using a virtual compliance control

Author

Sugahara, Yusuke ; Hosobata, Takuya ; Mikuriya, Y. ; Lim, Hun-ok ; Takanishi, Atsuo

Author_Institution

Graduate Sch. of of Sci. & Eng., Waseda Univ., Tokyo, Japan

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

595

Abstract

This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

Keywords

compliance control; legged locomotion; position control; stability; Waseda Leg-15; parallel bipedal locomotor; position control; stable dynamic walking; virtual compliance control; walking control; Batteries; Crawlers; Humanoid robots; Humans; Leg; Legged locomotion; Lighting control; Medical robotics; Mobile robots; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250694

Filename

1250694