Robust biped walking with active interaction control between foot and ground

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2030-2035

  Fujimoto, Yasutaka ^a   Obata, Satoshi ^b   Kawamura, Atsuo ^b  

^a KEIO UNIVERSITY   (Japan)

^b YOKOHAMA NATIONAL UNIVERSITY   (Japan)

Author keywords

Control systems; Equations; Foot; Force control; Friction; Legged locomotion; Robots; Robust control; Robustness; Torque control

Indexed keywords

ATTITUDE CONTROL; BIPED LOCOMOTION; CONTROL SYSTEMS; FORCE CONTROL; FRICTION; QUADRATIC PROGRAMMING; ROBOTICS; ROBOTS; ROBUST CONTROL; TORQUE CONTROL; MATHEMATICAL MODELS; MOTION CONTROL; ROBUSTNESS (CONTROL SYSTEMS);

ENVIRONMENTAL INTERACTIONS; EQUATIONS; FOOT; FORCE INTERACTION; INTERACTION CONTROLS; LEGGED LOCOMOTION; MOTION CONTROLLER; PHYSICAL CONSTRAINTS;

ROBUSTNESS (CONTROL SYSTEMS); MOBILE ROBOTS;

BIPED WALKING SYSTEMS; FORCE DISTRIBUTION;

EID: 0031629227     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680613     Document Type: Conference Paper

References (18)

1. S. Kajita, T. Yamaura, and A. Kobayashi, "Dynamic Walking Control of a Eliped Robot Along a Potential Energy Conserving Orbit, " IEEE Trans. RA, vol. 8, no. 4, pp. 432-438, 1992.
2. J. Furusho and A. Sano, "Sensor-Based Control of a Nine- Link Biped, " Int. J. Robotics Research, vol. 9, no. 2, pp. 83-98, 1990.
3. J. Yamaguchi, A. Takanishi and I. Kato, "Development of a Biped Walking Robot Compensating for Three-Axis Moment by Trunk Motion, " J. Robotics Society of Japan, vol. 11, no. 4, pp.581-586, 1993. (in Japanese).
4. M. H. Raibert, Legged Robots That Balance, Cambridge, MA, MIT Press, 1986.
5. A. Kun and W. T. Miller, III, "Adaptive Dynamic Balance of a Biped Robot using Neural Networks, " Proc. IEEE Int. Con., on RA, pp. 240-245, 1996.
6. J. K. Hodgins, "Three-Dimensional Human Running, " Proc. IEEE Int. Conf. on RA, pp. 3271-3276, 1996.
7. J. Yamaguchi, N. Kinoshita, A. Takanishi, and I. Kato, "Development of a Dynamic Biped Walking System for Hu- manoid, - Development of a Biped Walking Robot Adapting to the Human's Living Floor -, " Proc. IEEE Int. Conf. on RA, pp. 232-239, 1996.
8. S. Kajita and K. Tani, "Adaptive Gait Control of a Biped Robot based on Realtime Sensing of the Ground Profile, " Proc. IEEE Int. Conf. on RA, pp. 570-577, 1996.
9. H. Minakata and Y. Hori, "Development of Biped Bike Prototype 'Ostrich-I&II', " Proc. Asian Control Conference, vol. 3, pp. 319-322, 1997.
10. A. W. Salatian, K. Y. Yi, and Y. F. Zheng, "Reinforcement Learning for a Biped Robot to Climb Sloping Surfaces, " J. Robotic Systems, vol. 14, no. 4, pp. 283-296, 1997.
11. S. Kawaji, N. Matsunagaand M. Arao, "Hierarchical Control of Biped Locomotion Robot", Proc. IEEE Int. Workshop on Advanced Motion Control, pp. 421-430, 1994.
12. K. Sorao, T. Murakami, and K. Ohnishi, "A Unified Approach to ZMP and Gravity Center Control in Biped Dynamic Stable Walking, " Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, CD-ROM, 1997.
13. T. Fukuda, Y. Komata, and T. Arakawa, "Stabilization Control of Biped Locomotion Robot based Learning with GAs having Self-adaptive Mutation and Recurrent Neural Networks, " Proc. IEEE Int. Conf. on RA, pp. 217-222, 1997.
14. J. Pratt, P. Dilworth, and G. Pratt, "Virtual Model Control of a Bipedal Walking Robot, " Proc. IEEE Int. Conf. on RA, pp. 193-198, 1997.
15. Y. Fujimoto and A. Kawamura, "Autonomous Control and 3D Dynamic Simulation of Biped Walking Robot Including Environmental Force Interaction, " to appear in IEEE RA Magazine, June 1997.
16. Y. Fujimoto and A. Kawamura, "An Inertia Fluctuation Insensitive Robust Control of Robot Manipulators Based on a Combination of Inertia Torque Computation Filter and floo Control, " Trans. IEE of Japan, vol. 117-D, no. 4, pp. 493-500, 1997. (in Japanese).
17. Y. Fujimoto and A. Kawamura, "Robust Control of Biped Walking Robot with Yaw Moment Compensation by Arm Motion, " Proc. Asian Control Conference, vol. 3, pp. 327330, 1997.
18. R. W. Cottle and G. B. Dantzig, "Complementary Pivot Theory of Mathematical Programming, " Linear Algebra and Its Applications, vol. 1, pp. 103-125, 1968.