Biped landing pattern modification method with nonlinear compliance control

Kenji Hashimoto; Yusuke Sugahara; Hiroyuki Sunazuka; Chiaki Tanaka; Akihiro Ohta; Masamiki Kawase; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROBOT.2006.1641874

Biped landing pattern modification method with nonlinear compliance control

Kenji Hashimoto^*, Yusuke Sugahara, Hiroyuki Sunazuka, Chiaki Tanaka, Akihiro Ohta, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

37 Citations (Scopus)

Abstract

Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1213-1218
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2006.1641874
Publication status	Published - 2006
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 2006 May 15 → 2006 May 19

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	06/5/15 → 06/5/19

Keywords

Biped walking
Bipedal locomotor
Human-carrying robot
Nonlinear compliance control
Pattern modification
Uneven terrain

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2006.1641874

Cite this

Hashimoto, K., Sugahara, Y., Sunazuka, H., Tanaka, C., Ohta, A., Kawase, M., Lim, H. O., & Takanishi, A. (2006). Biped landing pattern modification method with nonlinear compliance control. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1213-1218). [1641874] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641874

Biped landing pattern modification method with nonlinear compliance control. / Hashimoto, Kenji; Sugahara, Yusuke; Sunazuka, Hiroyuki et al.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1213-1218 1641874 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Sugahara, Y, Sunazuka, H, Tanaka, C, Ohta, A, Kawase, M, Lim, HO & Takanishi, A 2006, Biped landing pattern modification method with nonlinear compliance control. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641874, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1213-1218, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1641874

Hashimoto K, Sugahara Y, Sunazuka H, Tanaka C, Ohta A, Kawase M et al. Biped landing pattern modification method with nonlinear compliance control. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1213-1218. 1641874. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2006.1641874

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title = "Biped landing pattern modification method with nonlinear compliance control",

abstract = "Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.",

keywords = "Biped walking, Bipedal locomotor, Human-carrying robot, Nonlinear compliance control, Pattern modification, Uneven terrain",

author = "Kenji Hashimoto and Yusuke Sugahara and Hiroyuki Sunazuka and Chiaki Tanaka and Akihiro Ohta and Masamiki Kawase and Lim, {Hun Ok} and Atsuo Takanishi",

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T1 - Biped landing pattern modification method with nonlinear compliance control

AU - Hashimoto, Kenji

AU - Sugahara, Yusuke

AU - Sunazuka, Hiroyuki

AU - Tanaka, Chiaki

AU - Ohta, Akihiro

AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2006

Y1 - 2006

N2 - Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

AB - Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

KW - Biped walking

KW - Bipedal locomotor

KW - Human-carrying robot

KW - Nonlinear compliance control

KW - Pattern modification

KW - Uneven terrain

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ER -

Biped landing pattern modification method with nonlinear compliance control

Abstract

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Keywords

ASJC Scopus subject areas

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