NDLI: Terrain-adaptive control with small landing impact force for biped vehicle

Content Provider	IEEE Xplore Digital Library
Author	Hashimoto, K. Hayashi, A. Sawato, T. Yoshimura, Y. Asano, T. Hattori, K. Sugahara, Y. Hun-ok Lim Takanishi, A.
Copyright Year	2009
Description	Author affiliation: Graduate School of Science and Engineering, Waseda University, JAPAN (Hashimoto, K.; Hayashi, A.; Sawato, T.; Yoshimura, Y.; Asano, T.; Hattori, K.) \|\| Department of Bioengineering and Robotics, Tohoku University, JAPAN (Sugahara, Y.) \|\| Department of Modern Mechanical Engineering, Waseda University, JAPAN (Takanishi, A.) \|\| Faculty of Engineering, Kanagawa University, JAPAN (Hun-ok Lim)
Abstract	Many researchers have studied on walking stability controls for biped robots. Most of them are highly accurate acceleration controls based on the mechanics model of the robot. However, the control algorithms are difficult to be applied to human-carrying biped robots due to modeling errors. In the previous report, we proposed the landing pattern modification method, but it had a problem that a foot landing impact increased when a walking speed became fast. So, we propose a new terrain-adaptive control that can reduce a landing- impact force. To increase a concave terrain adaptation, we set a target landing position beneath a reference level. To reduce the landing-impact force, we change the position gain control value to a small value at a swing phase. Moreover, we set landing-foot speed at zero after detecting a foot-landing by the force sensor mounted on a foot. To follow uneven terrain, a virtual spring is installed to the vertical direction after detecting a foot-landing on a ground, and a virtual compliance control is applied to the roll and pitch axes. In a stable walk while carrying a 65 kg human on uneven terrain, the new control method decreased the landing-impact force than the previous terrain-adaptive control.
Starting Page	2922
Ending Page	2927
File Size	1949192
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354517
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Vehicles Legged locomotion Robot control Foot Force sensors Stability Acceleration Error correction Gain control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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