TY - JOUR
T1 - A control method for dynamic biped walking under unknown external force
AU - Takanishi, Atsuo
AU - Takeya, Tomoaki
AU - Karaki, Hideyuki
AU - Kato, Ichiro
N1 - Publisher Copyright:
© 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.
PY - 1990
Y1 - 1990
N2 - In this paper, the authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, we performed walking experiments of real-time control with the biped walking robot WL-12RIII which had a newly developed real-time controller. The result was that the WL-12RIII realized a 0.64[s/step] dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100[N] and the time width was 0.3[s]. And the validity of this control method and the real-time controller was experimentally supported.
AB - In this paper, the authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, we performed walking experiments of real-time control with the biped walking robot WL-12RIII which had a newly developed real-time controller. The result was that the WL-12RIII realized a 0.64[s/step] dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100[N] and the time width was 0.3[s]. And the validity of this control method and the real-time controller was experimentally supported.
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U2 - 10.1109/IROS.1990.262498
DO - 10.1109/IROS.1990.262498
M3 - Conference article
AN - SCOPUS:85110749976
SN - 2153-0858
VL - 1990-July
SP - 795
EP - 801
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
M1 - 262498
T2 - 1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990
Y2 - 3 July 1990 through 6 July 1990
ER -