Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control

Yusuke Sugahara; Takuya Hosobata; Yutaka Mikuriya; Hun Ok Lim; Atsuo Takanishi

Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control

Yusuke Sugahara^*, Takuya Hosobata, Yutaka Mikuriya, Hun Ok Lim, Atsuo Takanishi

^*この研究の対応する著者

創造理工学部

研究成果: Paper › 査読

21 被引用数 (Scopus)

抄録

This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

本文言語	English
ページ	595-600
ページ数	6
出版ステータス	Published - 2003 12月 26
イベント	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States 継続期間: 2003 10月 27 → 2003 10月 31

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

制御およびシステム工学
ソフトウェア
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

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引用スタイル

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year = "2003",

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AU - Sugahara, Yusuke

AU - Hosobata, Takuya

AU - Mikuriya, Yutaka

AU - Lim, Hun Ok

AU - Takanishi, Atsuo

PY - 2003/12/26

Y1 - 2003/12/26

N2 - This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

AB - This paper describes a control method for a stable biped walking on uneven terrain. The walking control consists of a position control and a compliance control. In order to realize dynamic walking on a human living environment, a biped locomotor is controlled by the position control based on a compensatory motion. Also, in this research, to reduce the magnitude of impact forces and to guarantee a stable landing on the ground, the position-based virtual compliance control is introduced. Several walking experiments on uneven terrain are conducted using WL-15 (Waseda Leg-15) and the effectiveness of the control method is confirmed.

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M3 - Paper

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T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

Realization of Stable Dynamic Walking by a Parallel Bipedal Locomotor on Uneven Terrain Using a Virtual Compliance Control

抄録

Conference

ASJC Scopus subject areas

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