NDLI: Landing Pattern Modification Method with Predictive Attitude and Compliance Control to Deal with Uneven Terrain

Content Provider	IEEE Xplore Digital Library
Author	Hashimoto, K. Sugahara, Y. Kawase, M. Ohta, A. Tanaka, C. Hayashi, A. Endo, N. Sawato, T. Hun-ok Lim Takanashi, A.
Copyright Year	2006
Description	Author affiliation: Graduate Sch. of Sci. & Eng., Waseda Univ. (Hashimoto, K.; Sugahara, Y.; Kawase, M.; Ohta, A.; Tanaka, C.; Hayashi, A.; Endo, N.; Sawato, T.)
Abstract	Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg-No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed
Starting Page	1755
Ending Page	1760
File Size	7015306
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282213
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Attitude control Legged locomotion Humanoid robots Foot Force sensors Robot sensing systems Intelligent robots Leg Roads Mobile robots Predictive Attitude Control Human-carrying Robot Biped Walking Uneven Terrain Pattern Modification
Content Type	Text
Resource Type	Article

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