TY - GEN
T1 - Attitude compensation control for biped humanoid robot
AU - Kang, Hyun Jin
AU - Momoki, Shimpei
AU - Kondo, Hideki
AU - Hashimoto, Kenji
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2010/12/1
Y1 - 2010/12/1
N2 - We have developed a biped humanoid robot, W ABIAN-2R as a human motion simulator. However, it was difficult to walk stably on terrain with unevenness of several millimeters. So, we propose an attitude compensation control and a landing pattern modification control (LPMC) to deal with uneven terrain. The LPMC modifies the motion of the landing foot according to the ground surface while the attitude control compensates posture angles of the body based on the 3-axis gyro sensor's data. By integrating two controls, WABIAN-2R is able to walk on outdoor terrain with 5 degree inclination slope and height variations of several millimeters.
AB - We have developed a biped humanoid robot, W ABIAN-2R as a human motion simulator. However, it was difficult to walk stably on terrain with unevenness of several millimeters. So, we propose an attitude compensation control and a landing pattern modification control (LPMC) to deal with uneven terrain. The LPMC modifies the motion of the landing foot according to the ground surface while the attitude control compensates posture angles of the body based on the 3-axis gyro sensor's data. By integrating two controls, WABIAN-2R is able to walk on outdoor terrain with 5 degree inclination slope and height variations of several millimeters.
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UR - http://www.scopus.com/inward/citedby.url?scp=84885671325&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84885671325
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 - 677
EP - 684
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 -