TY - GEN
T1 - Disturbance avoidance control from environments for a biped walking vehicle
AU - Hashimotot, Kenji
AU - Sawato, Terumasa
AU - Hayashi, Akihiro
AU - Yoshimura, Yuki
AU - Asano, Teppei
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2010
Y1 - 2010
N2 - This paper describes a disturbance avoidance control from environments 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 to generate an avoidance behavior. To guarantee a walking stability against external forces. a compensation motion around a reference ZMP is generated. Then, external forces are estimated from ZMP errors. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments.
AB - This paper describes a disturbance avoidance control from environments 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 to generate an avoidance behavior. To guarantee a walking stability against external forces. a compensation motion around a reference ZMP is generated. Then, external forces are estimated from ZMP errors. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments.
UR - http://www.scopus.com/inward/record.url?scp=84885610983&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885610983&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84885610983
SN - 9814291269
SN - 9789814291262
T3 - Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
SP - 607
EP - 614
BT - Mobile Robotics
T2 - 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
Y2 - 9 September 2009 through 11 September 2009
ER -