In this paper, the authors will introduce a control method for dynamic biped walking stabi- lized by trunk motion on a sagittally uneven sur-face, that is for a biped walking robot which has a trunk to stabilize its walking, and its effectiveness as supported bv walking experiments using a biped walking robot. This control method is based on the introduction of a new concept called a "Virtual Surface", to consider the ZMP (Zero Moment Point) on an uneven surface, and the main algorithm for computing the trunk motion which compensates for lower-limbs motion and time trajectory of the arbitrarily planned ZMP on the "Virtual Surfaces". Using this control method in a number of ex-periments the biped walking robot WL-12RIII (Waseda Leg - 12 Refined III) which has a trunk realized dynamic biped walking on stairs with a step height of 0.1[m] and a trapezoidal terrain with an inclination of ± 10[deg). The walk- 1.6[sec/step] on the trapezoidal terrain. So that, the effectiveness of this control method was experimentally supported.
|ジャーナル||IEEE International Conference on Intelligent Robots and Systems|
|出版ステータス||Published - 1990|
|イベント||1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, Japan|
継続期間: 1990 7月 3 → 1990 7月 6
ASJC Scopus subject areas
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用