Walking control method of biped locomotors on inclined plane

Yusuke Sugahara; Yutaka Mikuriya; Kenji Hashimoto; Takuya Hosobata; Hiroyuki Sunazuka; Masamiki Kawase; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROBOT.2005.1570403

Walking control method of biped locomotors on inclined plane

Yusuke Sugahara^*, Yutaka Mikuriya, Kenji Hashimoto, Takuya Hosobata, Hiroyuki Sunazuka, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

^*Corresponding author for this work

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

26 Citations (Scopus)

Abstract

This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No-16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	1977-1982
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570403
Publication status	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

Bipedal locomotor
Inclined plane
Posture control
Virtual compliance control

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570403

Cite this

Sugahara, Y., Mikuriya, Y., Hashimoto, K., Hosobata, T., Sunazuka, H., Kawase, M., Lim, H. O., & Takanishi, A. (2005). Walking control method of biped locomotors on inclined plane. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 1977-1982). Article 1570403 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570403

Walking control method of biped locomotors on inclined plane. / Sugahara, Yusuke; Mikuriya, Yutaka; Hashimoto, Kenji et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 1977-1982 1570403 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

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

Sugahara, Y, Mikuriya, Y, Hashimoto, K, Hosobata, T, Sunazuka, H, Kawase, M, Lim, HO & Takanishi, A 2005, Walking control method of biped locomotors on inclined plane. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570403, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 1977-1982, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570403

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abstract = "This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No-16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.",

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author = "Yusuke Sugahara and Yutaka Mikuriya and Kenji Hashimoto and Takuya Hosobata and Hiroyuki Sunazuka and Masamiki Kawase and Lim, {Hun Ok} and Atsuo Takanishi",

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AU - Mikuriya, Yutaka

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AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

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AB - This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No-16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.

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KW - Inclined plane

KW - Posture control

KW - Virtual compliance control

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Walking control method of biped locomotors on inclined plane

Abstract

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Keywords

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