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Simulation of an autonomous biped walking robot including environmental force interaction

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2 Author(s)
Fujimoto, Y. ; Dept. of Electr. Eng., Keio Univ., Yokohama, Japan ; Kawamura, A.

This autonomous biped walking control system is based on reactive force interaction at the foothold. The precise 3D dynamic simulation presented includes: 1) a posture controller which accommodates the physical constraints of the reactive force/torque on the foot with quadratic programming; 2) a real-time COM (center of mass) tracking controller for foot placement, with a discrete inverted pendulum model; and 3) a 3D dynamic simulation scheme with precise contact with the environment. The proposed approach realizes robust biped locomotion because environmental interaction is directly controlled. The proposed method is applied to a 20 axes simulation model, and stable biped locomotion with velocity of 0.25 m/sec and a stepping time of 0.5 sec/step is realized

Published in:

Robotics & Automation Magazine, IEEE  (Volume:5 ,  Issue: 2 )