Balance control of a piped robot combining off-line pattern withreal-time modification
Qiang Huang
Kaneko, K.
Yokoi, K.
Kajita, S.
Kotoku, T.
Koyachi, N.
Arai, H.
Imamura, N.
Komoriya, K.
Tanie, K.
Tokyo Univ.;
This paper appears in: Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Publication Date: 2000
Volume: 4,
On page(s): 3346-3352 vol.4
Meeting Date: 04/24/2000 - 04/28/2000
Location: San Francisco, CA, USA
ISBN: 0-7803-5886-4
References Cited: 18
INSPEC Accession Number: 6690866
Digital Object Identifier: 10.1109/ROBOT.2000.845227
Current Version Published: 2002-08-06
Abstract
Since a biped robot tends to tip over easily, stable and reliable
biped walking is a very important achievement. In this paper, we propose
a balance control method based on an off-line planned walking pattern
with real-time modification. First, a method of generating a highly
stable, smooth walking pattern is presented. Then, a method of real-time
modification consisting of body posture control, actual zero moment
point control and landing time control based sensor information is
proposed. By combining the proposed off-line walking pattern with
real-time modification, the biped robot can walk smoothly and adapt to
unknown environments. The effectiveness of the proposed method is
confirmed by dynamic simulator such as walking on unexpected irregular
rough terrain, soft ground and in environments in the presence of
disturbances
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