Position and altitude tracking control for toe support phase of biped walking robot

被引：0
|
作者：
Takahashi, Taro [1 ]
Kawamura, Atsuo [1 ]
机构：
[1] Yokohama National University, Japan
来源：
Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) | 2006年 / 157卷 / 01期
关键词：
No paper has been published on the active use of the foot toe of biped walking robots. In other words; the sole of the supporting leg is usually assumed to completely contact the ground. To maintain this condition; the robot walking has a restriction such as the maximum walking speed limitation. If the point contact of the toe to the ground through walking is available; a variety of walking can be realized. In this paper; a new control method for biped robots; in which the contact of the sole to the ground becomes a point contact; is proposed. The COM (Center of Mass) and swing leg can track the desired path and each heel joint angle can be controlled by the proposed controller while a biped walking robot is following a forward falling. Therefore; the motion of the body does not need to be limited to quiet motion. The proposed method is verified by simulation and experimental results with Ken; a six-joint DOF biped robot. © 2006 Wiley Periodicals; Inc;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Journal article (JA)
引用
收藏
页码：72 / 79
相关论文
共 50 条
  • [41] Modeling and control of a 6 DOF biped walking robot
    Panahi, Mohammad
    Khandan, Rasool
    Eghtesad, Mohammad
    WMSCI 2007 : 11TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL V, POST CONFERENCE ISSUE, PROCEEDINGS, 2007, : 209 - 213
  • [42] Trajectory generation and control for a biped robot walking upstairs
    Chan-Soo Park
    Taesin Ha
    Joohyung Kim
    Chong-Ho Choi
    International Journal of Control, Automation and Systems, 2010, 8 : 339 - 351
  • [43] Control of biped walking robot with IPMC linear actuator
    Yamakita, M
    Kamamichi, N
    Kozuki, T
    Asaka, K
    Luo, ZW
    2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, 2005, : 48 - 53
  • [44] Impedance Control for Biped Robot Walking on Uneven Terrain
    Son, Bum Gyu
    Kim, Jin Tak
    Park, Jong Hyeon
    2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, 2009, : 239 - 244
  • [45] Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain
    Wang, Hai-yan
    Li, Yi-bin
    JOURNAL OF CONTROL SCIENCE AND ENGINEERING, 2013, 2013
  • [46] Development and motion control of a biped walking robot based on passive walking theory
    Lee, Jae Hoon
    Okamoto, Shingo
    Koike, Hisashi
    Tani, Keiya
    ARTIFICIAL LIFE AND ROBOTICS, 2014, 19 (01) : 68 - 75
  • [47] Stability Control for Biped Walking Based on Phase Modification During Double Support Period
    Li, Tongtong
    Yu, Zhangguo
    Chen, Juan
    Liu, Yan
    Zheng, Maoxing
    Meng, Libo
    Ma, Gan
    Zhang, Wen
    Zhang, Weimin
    Huang, Qiang
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 2014, : 1290 - 1295
  • [48] Bio-robotic toe and foot and heel models of a biped robot for more natural walking
    Yoon, Jungwon
    Nandha, H.
    Kim, Gap-Soon
    PROCEEDINGS OF THE 26TH IASTED INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION, AND CONTROL, 2007, : 63 - 68
  • [49] Balance Control Strategy of Biped Walking Robot SUBO-1 Based on Force-Position Hybrid Control
    Lee, Hyo-Joon
    Kim, Jung-Yup
    INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2021, 22 (01) : 161 - 175
  • [50] Balance Control Strategy of Biped Walking Robot SUBO-1 Based on Force-Position Hybrid Control
    Hyo-Joon Lee
    Jung-Yup Kim
    International Journal of Precision Engineering and Manufacturing, 2021, 22 : 161 - 175
12345