TY - GEN
T1 - Avoidance behavior from external forces for biped vehicle
AU - Hashimoto, Kenji
AU - Sawato, Terumasa
AU - Hayashi, Akihiro
AU - Yoshimura, Yuki
AU - Asano, Teppei
AU - Hattori, Kentaro
AU - Sugahara, Yusuke
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2010
Y1 - 2010
N2 - This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400 mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.
AB - This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400 mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.
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U2 - 10.1109/ROBOT.2010.5509390
DO - 10.1109/ROBOT.2010.5509390
M3 - Conference contribution
AN - SCOPUS:77955786224
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4715
EP - 4720
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -