NDLI: Posture and Vibration Control Based on Virtual Suspension Model Using Sliding Mode Control for Six-Legged Walking Robot

Content Provider	IEEE Xplore Digital Library
Author	Qingjiu Huang Fukuhara, Y.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. & Control Eng., Tokyo Inst. of Technol. (Qingjiu Huang; Fukuhara, Y.)
Abstract	In this paper, we proposed a robust control method based on the virtual suspension model for the purpose of keeping the posture stability of the robot body when the robot is walking on irregular terrain. This method considers the active control input and disturbances from collisions and the slippage between the foot of the robot and the ground, and the dynamic change of the supported weight of the robot. We applied sliding mode control to the posture stability of a six-legged walking robot which is developed in our laboratory and named TRUTH, on the basis of designing a suspension model which has virtual springs and dampers in the vertical direction, the directions of the pitch angle and the roll angle, respectively. The proposed method is discussed using the walking experimental results of the developed six-legged walking robot
Starting Page	5232
Ending Page	5237
File Size	6870660
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281664
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	Legged locomotion Vibration control Sliding mode control Robots Robust control Robust stability Foot Laboratories Springs Shock absorbers Experimental Verificaiton Six-Legged Walking Robot Virtual Suspension Dynamic Model Posture and Vibration Control Sliding Mode Control
Content Type	Text
Resource Type	Article

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