TY - GEN
T1 - Unknown disturbance compensation control for a biped walking vehicle
AU - Hashimoto, Kenji
AU - Sugahara, Yusuke
AU - Tanaka, Chiaki
AU - Ohta, Akihiro
AU - Hattori, Kentaro
AU - Sawato, Terumasa
AU - Hayashi, Akihiro
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2007
Y1 - 2007
N2 - This paper describes how to compensate unknown external forces caused by a rider's motion of a biped walking vehicle. When external forces act on a robot's waist, the waist is accelerated so that a measured ZMP may be equal to a reference ZMP. To inhibit the divergence of the waist motion, the reference ZMP is varied inside a support polygon. However, if a large external force acts on a robot, the waist trajectory does not converge by only controlling a reference ZMP. So, ZMP trajectory is varied by changing a foot-landing point. Using the proposed control method, WL-16RIV (Waseda Leg - No.16 Refined IV) achieved a stable human-carrying walking under unknown external forces which exert forward and sideways on the robot's waist. Through various walking experiments, the effectiveness of the proposed method was confirmed.
AB - This paper describes how to compensate unknown external forces caused by a rider's motion of a biped walking vehicle. When external forces act on a robot's waist, the waist is accelerated so that a measured ZMP may be equal to a reference ZMP. To inhibit the divergence of the waist motion, the reference ZMP is varied inside a support polygon. However, if a large external force acts on a robot, the waist trajectory does not converge by only controlling a reference ZMP. So, ZMP trajectory is varied by changing a foot-landing point. Using the proposed control method, WL-16RIV (Waseda Leg - No.16 Refined IV) achieved a stable human-carrying walking under unknown external forces which exert forward and sideways on the robot's waist. Through various walking experiments, the effectiveness of the proposed method was confirmed.
KW - Biped walking
KW - Biped walking vehicle
KW - Disturbance compensation control
KW - Human-carrying robot
UR - http://www.scopus.com/inward/record.url?scp=51349087222&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349087222&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399285
DO - 10.1109/IROS.2007.4399285
M3 - Conference contribution
AN - SCOPUS:51349087222
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2204
EP - 2209
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -