Attitude compensation control for biped humanoid robot

Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Volumn , Issue , 2010, Pages 677-684

  Kang, Hyun Jin ^a   Momoki, Shimpei ^a   Kondo, Hideki ^a   Hashimoto, Kenji ^a   Lim, Hun Ok ^b   Takanishi, Atsuo ^a  

^a WASEDA UNIVERSITY   (Japan)

^b KANAGAWA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED HUMANOID ROBOT; COMPENSATION CONTROL; GROUND SURFACES; GYRO SENSORS; HEIGHT VARIATION; HUMAN MOTIONS; UNEVEN TERRAIN;

ANTHROPOMORPHIC ROBOTS; ATTITUDE CONTROL; LANDING; MOBILE ROBOTS;

LANDFORMS;

EID: 84885671325     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. I. Y. Ogura, H. Aikawa, Hun-ok Lim, and A. Takanishi, "Developed of a human-like walking robot having two 7-DOF legs and a 2-DOF waist, " Proc. of the IEEE international conference on robotics and automation, pp. 134-139 (2004).
2. Y. Ogura, K. Shimomura, Hun-ok Lim, and A. Takanishi, "Human-like Walking with Knee Stretched, Heel-contact and Toe-off Motion by a Humanoid Robot, " Proc. of the IEEE/RSJ international conference on intelligent robots and systems, pp. 2497-2502 (2006).
3. H. Kondo, Y. Ogura, Hun-ok Lim, and A. Takanishi, "Biped Humanoid Robot Capable of Being Used as Human Motion Simulator, " Proc. the LOth International Symposium on Experimental Robotics (ISER), pp. 523-531 (2006).
4. Y. Sugahara, T. Hosobara, Hun-ok Lim, and A. Takanishi, "Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using Virtual Compliance Control, " Proc. of the IEEE/RSJ international conference on intelligent robots and systems, pp. 595-600 (2003).
5. K. Hashimoto, Y. Sugahara, Hun-ok Lim, and A. Takanishi, "Biped Landing Pattern Modification Method with Nonlinear Compliance Control, " Proc. of the IEEE International Conference on Robotics and Automation, pp. 1213-1218 (2006).
6. M. Vukobratovic, Yu. Stepanenko, "On the Stability of Anthropomorphic Systems, " Mathematical Biosciences, vol. 15, no. 1, pp. 1-37 (1972).
7. K. Hashimoto, Y. Sugahara, Hun-ok Lim, and A. Takanishi, "Landing Pattern Modification Method with Predictive Attitude and Compliance Control to Deal with uneven Terrain, " Proc. of the IEEE/RSJ international conference on intelligent robots and systems, pp. 1755-1760 (2006).
8. Jung-Yup KIM, Ill-Woo Park and Jun-Ho Oh, "Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor" J Intell Robot Syst. 48, pp. 457-484 (2007).