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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | In-Man Park Sang-Young Jo Gi-Bok Kim Il-Ro Yoon Bo-Nam Cha Sung-Hyun Han |
| Copyright Year | 2015 |
| Description | Author affiliation: Intem Co., Ltd., Changwon, South Korea (In-Man Park) || Gyeongnam Technopark Co. Ltd., Changwon, South Korea (Il-Ro Yoon) || Renault Samsung Motors Co., Ltd., Changwon, South Korea (Gi-Bok Kim) || Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea (Sang-Young Jo) || Sch. of Mech. Eng., Kyungnam Univ., Changwon, South Korea (Sung-Hyun Han) || Doosan Infracore Co., Ltd., Changwon, South Korea (Bo-Nam Cha) |
| Abstract | This paper deals with the stable walking for a bipped robot, on uneven terrain, A bipped robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs bipped robot. |
| Starting Page | 1259 |
| Ending Page | 1261 |
| File Size | 378903 |
| Page Count | 3 |
| File Format | |
| ISSN | 20937121 |
| e-ISBN | 9788993215083 |
| DOI | 10.1109/ICCAS.2015.7364827 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-10-13 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Control, Robotics and Systems - ICROS |
| Subject Keyword | Legged locomotion Force sensing resistor fuzzy algorithm stabilization Robot sensing systems bipped robot |
| Content Type | Text |
| Resource Type | Article |
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