Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

Kenji Hashimoto; Yusuke Sugahara; Masamiki Kawase; Akihiro Ohta; Chiaki Tanaka; Akihiro Hayashi; Nobutsuna Endo; Terumasa Sawato; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/IROS.2006.282213

Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

Kenji Hashimoto^*, Yusuke Sugahara, Masamiki Kawase, Akihiro Ohta, Chiaki Tanaka, Akihiro Hayashi, Nobutsuna Endo, Terumasa Sawato, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

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

15 Citations (Scopus)

Abstract

Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	1755-1760
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.282213
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

Keywords

Biped walking
Human-carrying robot
Pattern modification
Predictive attitude control
Uneven terrain

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2006.282213

Cite this

Hashimoto, K., Sugahara, Y., Kawase, M., Ohta, A., Tanaka, C., Hayashi, A., Endo, N., Sawato, T., Lim, H. O., & Takanishi, A. (2006). Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1755-1760). [4058630] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282213

Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. / Hashimoto, Kenji; Sugahara, Yusuke; Kawase, Masamiki et al.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1755-1760 4058630 (IEEE International Conference on Intelligent Robots and Systems).

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

Hashimoto, K, Sugahara, Y, Kawase, M, Ohta, A, Tanaka, C, Hayashi, A, Endo, N, Sawato, T, Lim, HO & Takanishi, A 2006, Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058630, IEEE International Conference on Intelligent Robots and Systems, pp. 1755-1760, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.282213

Hashimoto K, Sugahara Y, Kawase M, Ohta A, Tanaka C, Hayashi A et al. Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1755-1760. 4058630. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2006.282213

@inproceedings{80830c9758a34e07ac7020baa22f68fb,

title = "Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain",

abstract = "Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.",

keywords = "Biped walking, Human-carrying robot, Pattern modification, Predictive attitude control, Uneven terrain",

author = "Kenji Hashimoto and Yusuke Sugahara and Masamiki Kawase and Akihiro Ohta and Chiaki Tanaka and Akihiro Hayashi and Nobutsuna Endo and Terumasa Sawato and Lim, {Hun Ok} and Atsuo Takanishi",

year = "2006",

doi = "10.1109/IROS.2006.282213",

language = "English",

isbn = "142440259X",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "1755--1760",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

}

TY - GEN

T1 - Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

AU - Hashimoto, Kenji

AU - Sugahara, Yusuke

AU - Kawase, Masamiki

AU - Ohta, Akihiro

AU - Tanaka, Chiaki

AU - Hayashi, Akihiro

AU - Endo, Nobutsuna

AU - Sawato, Terumasa

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2006

Y1 - 2006

N2 - Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

AB - Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg - No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed.

KW - Biped walking

KW - Human-carrying robot

KW - Pattern modification

KW - Predictive attitude control

KW - Uneven terrain

UR - http://www.scopus.com/inward/record.url?scp=34250656905&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34250656905&partnerID=8YFLogxK

U2 - 10.1109/IROS.2006.282213

DO - 10.1109/IROS.2006.282213

M3 - Conference contribution

AN - SCOPUS:34250656905

SN - 142440259X

SN - 9781424402595

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1755

EP - 1760

BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

Y2 - 9 October 2006 through 15 October 2006

ER -

Landing pattern modification method with predictive attitude and compliance control to deal with uneven terrain

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this