Biped landing pattern modification method with nonlinear compliance control

Kenji Hashimoto; Yusuke Sugahara; Hiroyuki Sunazuka; Chiaki Tanaka; Akihiro Ohta; Masamiki Kawase; Hun Ok Lim; Atsuo Takanishi

doi:10.1109/ROBOT.2006.1641874

Biped landing pattern modification method with nonlinear compliance control

Kenji Hashimoto^*, Yusuke Sugahara, Hiroyuki Sunazuka, Chiaki Tanaka, Akihiro Ohta, Masamiki Kawase, Hun Ok Lim, Atsuo Takanishi

^*この研究の対応する著者

研究成果: Conference contribution

37 被引用数 (Scopus)

抄録

Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

本文言語	English
ホスト出版物のタイトル	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
ページ	1213-1218
ページ数	6
DOI	https://doi.org/10.1109/ROBOT.2006.1641874
出版ステータス	Published - 2006
イベント	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States 継続期間: 2006 5月 15 → 2006 5月 19

出版物シリーズ

名前	Proceedings - IEEE International Conference on Robotics and Automation
巻	2006
ISSN（印刷版）	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
国/地域	United States
City	Orlando, FL
Period	06/5/15 → 06/5/19

ASJC Scopus subject areas

ソフトウェア
制御およびシステム工学
人工知能
電子工学および電気工学

文献へのアクセス

10.1109/ROBOT.2006.1641874

他のファイルとリンク

引用スタイル

Hashimoto, K., Sugahara, Y., Sunazuka, H., Tanaka, C., Ohta, A., Kawase, M., Lim, H. O., & Takanishi, A. (2006). Biped landing pattern modification method with nonlinear compliance control. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1213-1218). [1641874] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641874

Biped landing pattern modification method with nonlinear compliance control. / Hashimoto, Kenji; Sugahara, Yusuke; Sunazuka, Hiroyuki その他.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1213-1218 1641874 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

研究成果: Conference contribution

Hashimoto, K, Sugahara, Y, Sunazuka, H, Tanaka, C, Ohta, A, Kawase, M, Lim, HO & Takanishi, A 2006, Biped landing pattern modification method with nonlinear compliance control. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006., 1641874, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 1213-1218, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1641874

Hashimoto K, Sugahara Y, Sunazuka H, Tanaka C, Ohta A, Kawase M その他. Biped landing pattern modification method with nonlinear compliance control. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. 2006. p. 1213-1218. 1641874. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2006.1641874

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title = "Biped landing pattern modification method with nonlinear compliance control",

abstract = "Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.",

keywords = "Biped walking, Bipedal locomotor, Human-carrying robot, Nonlinear compliance control, Pattern modification, Uneven terrain",

author = "Kenji Hashimoto and Yusuke Sugahara and Hiroyuki Sunazuka and Chiaki Tanaka and Akihiro Ohta and Masamiki Kawase and Lim, {Hun Ok} and Atsuo Takanishi",

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TY - GEN

T1 - Biped landing pattern modification method with nonlinear compliance control

AU - Hashimoto, Kenji

AU - Sugahara, Yusuke

AU - Sunazuka, Hiroyuki

AU - Tanaka, Chiaki

AU - Ohta, Akihiro

AU - Kawase, Masamiki

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2006

Y1 - 2006

N2 - Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

AB - Many researchers have been studied on acceleration control algorithms for biped robots to deal with uneven terrain. However, the control algorithms are difficult to be used for human-carrying biped walking robots because of modeling errors. In this paper, a landing pattern modification method is proposed which based on nonlinear compliance control. Theoretical compliance displacements calculated from a walking pattern are compared with the actual compliance displacements, while a robot's foot touches slightly uneven terrain. In result, the height of landing terrain is detected, and the preset walking pattern is modified. Using this method, a human-carrying biped robot will be able to walk stably on uneven terrain. This pattern modification method does not need any special sensors except force sensors. Through various walking experiments, the effectiveness of the method is confirmed.

KW - Biped walking

KW - Bipedal locomotor

KW - Human-carrying robot

KW - Nonlinear compliance control

KW - Pattern modification

KW - Uneven terrain

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Y2 - 15 May 2006 through 19 May 2006

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Biped landing pattern modification method with nonlinear compliance control

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