NDLI: An investigation on robust biped walking using compliant force control and a online walking pattern generator

Content Provider	IEEE Xplore Digital Library
Author	Van Heerden, K. Kawamura, A.
Copyright Year	2010
Description	Author affiliation: Yokohama National University (Van Heerden, K.; Kawamura, A.)
Abstract	This paper discuses biped walking which is robust to external disturbances and how it could be realized by means of achieving compliance and dynamic trajectory generation. A method of limiting the ground reaction forces is presented. It is mathematically equivalent to a conventional position control system when the ground reaction forces are within the set limits, therefore in this case the positioning performance is the same. This method only requires the tooltip position reference, joint states and force sensor data as inputs. As an application it can be used to limit the ZMP of a biped robot to be within the foot sole, limiting the lateral forces to prevent sliding and limiting the downwards foot force after a jumping maneuver to prevent breaking the leg mechanism. It could be considered to be more general than the conventional ZMP controller method of stabilizing biped walking yet it is compatible and can be used in conjunction with such a method. A method of calculating the foot and COM trajectories online is also discussed. A walking simulation is presented to show the effectiveness of the ground reaction force limiter in the case where the input trajectory is inappropriate for the robot. A different simulation shows how the robot can attain compliance to external forces while keeping the ZMP in a predefined sub-region of the foot. Finally a simulation is shown to demonstrate the proposed walking pattern generator.
Starting Page	1453
Ending Page	1458
File Size	2388627
Page Count	6
File Format	PDF
ISBN	9781424452255
ISSN	1553572X
DOI	10.1109/IECON.2010.5675470
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Foot Force Trajectory Torque Legged locomotion Joints
Content Type	Text
Resource Type	Article

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