Title :
A study on stable walking control of biped robot on uneven terrain
Author :
Ki-Won Sung ; Sung-Won Jung ; Moon-Yeul Park ; Yang-Keun Jeong ; Woo-Song Lee ; In-Man Park ; Sung-Hyun Han
Author_Institution :
Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea
Abstract :
We present a new technology for real-time walking of a biped robot. A biped robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.
Keywords :
force sensors; humanoid robots; legged locomotion; motion control; robust control; 20-DOFs humanoid robot; biped robot; degrees-of-freedom; environmental conditions; force sensors; ground reaction forces; realtime walking; robust control algorithm; stabilization; stable walking control; structural stability; Educational institutions; Facsimile; Indexes; Real-time systems; Robot kinematics; Robot sensing systems; Biped Robot; Control Algorithm; Robust Walking; Stable Walking;
Conference_Titel :
Robotics (ISR), 2013 44th International Symposium on
Conference_Location :
Seoul
DOI :
10.1109/ISR.2013.6695621
